Minimum Energy Control of Redundant Linear Manipulators

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Yoram Halevi ◽  
Emanuele Carpanzano ◽  
Giuseppe Montalbano
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Minimum Energy ◽  
Input Voltage ◽  
Joint Motion ◽  
End Effector ◽  
Minimum Energy Control ◽  
The Individual ◽  
The Cost ◽  
Exact Energy

In redundant manipulation systems, the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof) and the additional dofs can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. A full linear electromechanical model is used, and the exact energy consumption is calculated. The optimization includes also displacement limits via penalty functions that are included in the cost function. The optimal trajectory is feasible in the sense that it can be obtained by a finite input voltage and all the velocities are continuous. The solution is based on projections that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. The important and delicate issue of boundary conditions is resolved accordingly. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.

Minimum Energy Control of Redundant Cartesian Manipulators

2012 ◽  
Author(s):  
Yoram Halevi ◽  
Emanuele Carpanzano ◽  
Giuseppe Montalbano
Keyword(s):  
Degrees Of Freedom ◽  
Minimum Energy ◽  
Joint Motion ◽  
Energy Control ◽  
End Effector ◽  
Considerable Saving ◽  
Minimum Energy Control ◽  
Simulation Results ◽  
The Individual ◽  
The Cost

In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof). The redundancy is used in this paper to minimize energy consumption. A full electromechanical model is used, and the invested energy is calculated explicitly. The optimization includes also displacement limits via penalty functions that are included in the cost function. The solution is based on separating the system and the input into two parts. One that is completely determined by the end-effector path and the other that is driven by it, yet free for optimization. The boundary conditions are resolved in a similar manner, where the physical values are translated to the scaled down system by using a specific projection. Simulation results show that even with limited joint motion, the redundancy can lead to a considerable saving in energy.

Minimum Energy Control of Redundant Manipulators With Axes Coupling and Compounded Path

2014 ◽  
Author(s):  
Lior Alpert ◽  
Yoram Halevi
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Minimum Energy ◽  
Joint Motion ◽  
Redundant Manipulators ◽  
End Effector ◽  
Minimum Energy Control ◽  
Optimization Simulation ◽  
Simulation Results ◽  
The Individual

In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom and this freedom can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. It extends previous results by considering more general cases of possible coupling between the axes, e.g. three axes for planar motion, and more general paths comprising of several primitive motions connected dynamically. The solution is based on projections into lower subspaces that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.

From Construction to Operation: Achieving Indoor Thermal Comfort via Altering External Walls Specifications in Egypt

2013 ◽  
Vol 689 ◽  
pp. 250-253 ◽  
Author(s):  
Mohamed M. Mahdy ◽  
Marialena Nikolopoulou
Keyword(s):  
Energy Consumption ◽  
Thermal Comfort ◽  
Natural Ventilation ◽  
Minimum Energy ◽  
Residential Energy ◽  
Indoor Thermal Comfort ◽  
Minimum Energy Consumption ◽  
Different Types ◽  
Running Cost ◽  
The Cost

The objective of this research is to study the effect of using different material specifications for the external walls on the cost of the energy consumption for achieving internal thermal comfort. We refer to this as operation running cost, which in turn is compared to initial construction cost for each type of the used external walls. In order to achieve this objective, dynamic thermal simulation were carried out for four different types of external walls – commonly used in Egypt – in two different sets of cooling: natural ventilation and mechanical means. Experiments recommend that using the Egyptian Residential Energy Code (EREC) to achieve inner thermal comfort with the minimum energy consumption (consequently the minimum CO2 emissions) and the minimum running cost as well.

scholarly journals A self-aligning end-effector robot for individual joint training of the human arm

2021 ◽  
Vol 8 ◽  
pp. 205566832110198
Author(s):  
Sivakumar Balasubramanian ◽  
Sandeep Guguloth ◽  
Javeed Shaikh Mohammed ◽  
S Sujatha
Keyword(s):  
Degrees Of Freedom ◽  
Simple Algorithm ◽  
Optimization Procedure ◽  
Estimation Procedure ◽  
Compact Structure ◽  
End Effector ◽  
Human Arm ◽  
Robotic Devices ◽  
The Individual ◽  
Human Limb

Aim: Intense training of arm movements using robotic devices can help reduce impairments in stroke. Recent evidence indicates that independent training of individual joints of the arm with robots can be as effective as coordinated multi-joint arm training. This makes a case for designing and developing robots made for training individual joints, which can be simpler and more compact than the ones for coordinate multi-joint arm training. The design of such a robot is the aim of the work presented in this paper. Methods: An end-effector robot kinematic design was developed and the optimal robot link lengths were estimated using an optimization procedure. A simple algorithm for automatically detecting human limb parameters is proposed and its performance was evaluated through a simulation study. Results: A six-degrees-of-freedom end-effector robot with three actuated degrees-of-freedom and three non-actuated self-aligning degrees-of-freedom for safe assisted training of the individual joints (shoulder or elbow) of the human arm was conceived. The proposed robot has relaxed constraints on the relative positioning of the human limb with respect to the robot. The optimized link lengths chosen for the robot allow it to cover about 80% of the human limb’s workspace, and possess good overall manipulability. The simple estimation procedure was demonstrated to estimate human limb parameters with low bias and variance. Discussion: The proposed robot with three actuated and three non-actuated degrees-of-freedom has a compact structure suitable for both the left and right arms without any change to its structure. The proposed automatic estimation procedure allows the robot to safely apply forces and impose movements to the human limb, without the need for any manual measurements. Such compact robots have the highest potential for clinical translation

Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Andrea Martin-Parra ◽  
David Rodriguez-Rosa ◽  
Sergio Juarez-Perez ◽  
Guillermo Rubio-Gomez ◽  
Antonio Gonzalez-Rodriguez ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Parallel Robots ◽  
End Effector ◽  
Joint Coordinates ◽  
Pick And Place ◽  
Low Energy Consumption ◽  
Simulation Results ◽  
The Difference

Abstract This article presents a new assembling for 2 degrees-of-freedom (DOFs) parallel robots for executing rapid pick-and-place operations with low energy consumption. A conventional design of 2-DOF parallel robots is based on five-bar mechanisms. Collisions between links are highly possible, restricting the end-effector workspace and/or increasing the trajectory time to avoid collisions. In this article, an alternative assembling for preventing collisions is presented. This novel assembling allows exploring the difference between the four five-bar mechanism configurations for the same position of the end-effector. Some of these configurations yield to lower time and/or lower energy consumption for the same motorization. First, a dynamic model of the robot has been developed using matlab® and simulink® and validated by comparison with the results obtained by adams® software. A robust cascade PD regulator for controlling joint coordinates has been tuned providing a high accurate end-effector positioning. Finally, simulation results of four configurations are presented for executing controlled maneuvers. The obtained results demonstrate that the conventional configuration is the worst one in terms of trajectory time or energy consumption and, conversely, the best one corresponds to an uncommonly used configuration. A workspace map where all configurations provide faster maneuvers has been obtained in terms of Jacobian matrix and mechanism elbows distance. The results presented here allow designing a rapid manipulator for pick-and-place operations.

Multivariable Extremum Seeking for Joint-Space Trajectory Optimization of a High-Degrees-of-Freedom Robot

2018 ◽  
Vol 140 (11) ◽  
Author(s):  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Trajectory Optimization ◽  
Degrees Of Freedom ◽  
Research Effort ◽  
Minimum Energy ◽  
Joint Space ◽  
Design Sensitivity ◽  
Extremum Seeking ◽  
Minimum Energy Consumption ◽  
Gradient Based ◽  
The Cost

In this paper, a novel analytical coupled trajectory optimization of a seven degrees-of-freedom (7DOF) Baxter manipulator utilizing extremum seeking (ES) approach is presented. The robotic manipulators are used in network-based industrial units, and even homes, by expending a significant lumped amount of energy, and therefore, optimal trajectories need to be generated to address efficiency issues. These robots are typically operated for thousands of cycles resulting in a considerable cost of operation. First, coupled dynamic equations are derived using the Lagrangian method and experimentally validated to examine the accuracy of the model. Then, global design sensitivity analysis is performed to investigate the effects of changes of optimization variables on the cost function leading to select the most effective ones. We examine a discrete-time multivariable gradient-based ES scheme enforcing operational time and torque saturation constraints in order to minimize the lumped amount of energy consumed in a path given; therefore, time-energy optimization would not be the immediate focus of this research effort. The results are compared with those of a global heuristic genetic algorithm (GA) to discuss the locality/globality of optimal solutions. Finally, the optimal trajectory is experimentally implemented to be thoroughly compared with the inefficient one. The results reveal that the proposed scheme yields the minimum energy consumption in addition to overcoming the robot's jerky motion observed in an inefficient path.

Geometric Work of Manipulators and Path Planning Based on Minimum Energy Consumption

1992 ◽  
Vol 114 (3) ◽  
pp. 414-421 ◽  
Author(s):  
Li-Shan Chou ◽  
Shin-Min Song
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Minimum Energy ◽  
Dynamic Programming Method ◽  
Continuous Path ◽  
End Effector ◽  
Minimum Energy Consumption ◽  
Special Geometry ◽  
Pick And Place ◽  
Regular Open

The energy efficiency of the robots of today’s generation is in general very poor due to the existence of “geometric work.” The geometric work is geometry dependent and can be eliminate by adopting a special geometry which decouples the gravitational motion from the horizontal motions. Instead of adopting a special geometry, this paper studies the geometric work of a regular open-chained manipulator and applies it to the path planning for minimum energy consumption. For a given manipulator geometry and end-effector position, the zones of velocity with zero geometric work are determined analytically. A map which describes these zones of zero geometric work at various positions in workspace is then constructed for path planning with zero geometric work. The path planning for minimum energy consumption is generated by the dynamic programming method and the results are compared with the map of zero geometric work. It is found that the end-effector tends to move within the zones of zero geometric work as much as possible. If the end-effector has to cross the boundary of a zone at some point, it again moves within the zones after crossing the boundary. The presented method can also be used to arrange the pick and place positions for minimum travel energy consumption. That is, the two positions should be selected so that a continuous path which connects them with zero geometric work and with monotonously ascending or descending features is available.

scholarly journals A self-aligning end-effector robot for individual joint training of the human arm

2020 ◽  
Author(s):  
Sivakumar Balasubramanian ◽  
Sandeep Guguloth ◽  
Javeed Shaikh Mohammed ◽  
S. Sujatha
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Estimation Procedure ◽  
Current Evidence ◽  
End Effector ◽  
Design And Optimization ◽  
Human Arm ◽  
Joint Training ◽  
The Individual ◽  
Human Limb

AbstractCurrent evidence indicates that individual joint training with robotic devices can be as effective as multi-joint training for the arm. This makes a case for developing simpler and more compact robots for training individual joints of the arm. Such robots have the highest potential for clinical translation. To this end, the current work presents the kinematic design and optimization of a six degrees-of-freedom (dof) end-effector robot with three actuated dof and three non-actuated self-aligning dof for safe assisted training of the individual joints (shoulder or elbow) of the human arm, with relaxed constraints of the relative positioning of the human limb with respect to the robot. Further, we present a simple estimation procedure to automatically identify the kinematic parameters of the human limb essential for control of the human-robot closed kinematic chain.

Geographical aspects of the diffusion of passive houses

2013 ◽  
Vol 4 (2) ◽  
pp. 151-156 ◽  
Author(s):  
G. Kozma ◽  
E. Molnár ◽  
K. Czimre ◽  
J. Pénzes
Keyword(s):  
Energy Consumption ◽  
Energy Resources ◽  
Substantial Part ◽  
Renewable Energy Resources ◽  
Passive House ◽  
The Earth ◽  
Passive Houses ◽  
The Individual ◽  
Geographical Locations ◽  
Over Time

Abstract In our days, energy issues belong to the most important problems facing the Earth and the solution may be expected partly from decreasing the amount of the energy used and partly from the increased utilisation of renewable energy resources. A substantial part of energy consumption is related to buildings and includes, inter alia, the use for cooling/heating, lighting and cooking purposes. In the view of the above, special attention has been paid to minimising the energy consumption of buildings since the late 1980s. Within the framework of that, the passive house was created, a building in which the thermal comfort can be achieved solely by postheating or postcooling of the fresh air mass without a need for recirculated air. The aim of the paper is to study the changes in the construction of passive houses over time. In addition, the differences between the geographical locations and the observable peculiarities with regard to the individual building types are also presented.

Sign in / Sign up

Export Citation Format

Share Document