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A New Method to Reduce Energy in Trajectory Planning

机译：轨迹规划中减少能量的新方法

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A new method to reduce energy in trajectory planning will be proposed in this paper, and it is found that it can significantly reduce the energy. The method is to smooth the planned trajectory with a well-designed low-pass filter. The low-pass filter has the ability to block high frequencies and pass the low frequencies, so it can smooth waveforms and form a chamfer-like effect at the mutation. Besides this advantages, it is found that after using a low-pass filter to handle the Cartesian trajectory, the sampling points will be denser at the beginning and end of the Cartesian space trajectory than the original trace. This change can ensure the joint angle velocity smoothly change from zero to zero, which means the trajectory will be run in a smooth state without step or shake. Using the dynamics can calculate the joint torque, then multiply the joint torque with the joint angle velocity to get the joint power. And at last, the energy consumption of every joint can be gotten by integrating the joint power. As it is concluded from the simulation result, smooth the trajectory with a well-designed low-pass filter can protect the motor and reducer and extend the life of the manipulators, and every joint energy consumption can be greatly reduced. And the reduction of energy consumption is related to the shape of the original trajectory and the cut-off frequency of the low-pass filter.
机译：本文提出了一种在轨迹规划中降低能量的新方法，并发现该方法可以显着降低能量。该方法是使用设计良好的低通滤波器来平滑计划的轨迹。低通滤波器具有阻止高频并通过低频的能力，因此它可以使波形平滑并在突变时形成类似倒角的效果。除此优点外，还发现在使用低通滤波器处理笛卡尔轨迹时，笛卡尔空间轨迹的起点和终点的采样点将比原始轨迹更密集。这种变化可以确保关节角速度从零到零平稳地变化，这意味着轨迹将在平滑状态下运行而不会出现阶跃或晃动。使用动力学可以计算关节扭矩，然后将关节扭矩乘以关节角速度即可获得关节功率。最后，通过整合联合电源可以得到每个联合的能耗。从仿真结果可以看出，使用设计良好的低通滤波器平滑轨迹可以保护电动机和减速器，并延长机械手的寿命，并且可以大大减少每个关节的能耗。能量消耗的减少与原始轨迹的形状和低通滤波器的截止频率有关。

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