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 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 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.

Approximate minimum energy control

AIAA Journal ◽  
1970 ◽  
Vol 8 (12) ◽  
pp. 2242-2244 ◽  
Author(s):  
R. O. ROGERS ◽  
D. D. SWORDER
Keyword(s):  
Minimum Energy ◽  
Energy Control ◽  
Minimum Energy Control
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