Incorporating tasks in the dynamics of robotic arms

Wouter Wolfslag, Michiel Plooij, I. Staal, Martijn Wisse

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We aim to optimize the dynamics of robotic arms, based on the task they have to perform. This will make them faster and cheaper and will lower their energy consumption. We focus on repetitive motions and in particular on rest-to-rest motions, which are used in e.g. pick and place tasks. Incorporating the tasks in the dynamics involves optimizing the mechanical configuration, the mechanical parameters and the control. The combination of these three aspects determines the performance. In this paper we discuss four approaches that we have used to design robotic arms: manual design with optimal feedforward control, parameter optimization with optimal feedforward control, cooptimization of feedback control and mechanical parameters and the use of evolutionary algorithms to design the mechanism from a task description.
Original languageEnglish
Title of host publicationWorkshop on Task Based Optimal Design of Robots at the International Conference on Robotics and Automation
Place of PublicationHong Kong, China
Number of pages4
Publication statusPublished - 2014
EventTask-Based Optimal Design of Robots - Hong Kong, China
Duration: 31 May 201431 May 2014


ConferenceTask-Based Optimal Design of Robots
Abbreviated titleICRA 2014
CityHong Kong
Internet address


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