scholarly journals Energy Optimization of Functionally Redundant Robots through Motion Design

2020 ◽  
Vol 10 (9) ◽  
pp. 3022
Author(s):  
Paolo Boscariol ◽  
Roberto Caracciolo ◽  
Dario Richiedei ◽  
Alberto Trevisani
Keyword(s):  
Energy Efficiency ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Energy Savings ◽  
Robot Arm ◽  
Redundant Robots ◽  
Performance Metric ◽  
Serial Robot ◽  
Motion Profile ◽  
Motion Design

This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than the number of available degrees of freedom, the motion of the extra degrees of freedom can be tailored to enhance a performance metric. This work showcases a method that can be used to effectively enhance the energy efficiency through motion design, using a detailed dynamic model of the UR5 serial robot arm. The method is based on an optimization of the motion profile, using a parametrized description of the end-effector orientation: the results showcase an increased efficiency that allows energy savings up to 20.8%, according to the energy consumption results according to the electro-mechanical dynamic model of the robot.

scholarly journals Online human-like redundancy optimization for tele-operated anthropomorphic manipulators

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881469 ◽  
Author(s):  
Hang Su ◽  
Nima Enayati ◽  
Luca Vantadori ◽  
Andrea Spinoglio ◽  
Giancarlo Ferrigno ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Robot Arm ◽  
Biologically Inspired ◽  
Natural Interaction ◽  
Redundant Robots ◽  
Tracking Tasks ◽  
Human Ability ◽  
Swivel Angle ◽  
Nonlinear Regression Method ◽  
Robot Cooperation

Robot human-like behavior can enhance the performance of human–robot cooperation with prominently improved natural interaction. This also holds for redundant robots with an anthropomorphic kinematics. In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4+, KUKA, Germany) during tele-operated tasks. We implemented a nonlinear regression method—based on neural networks—between the human arm elbow swivel angle and the hand target pose to achieve an anthropomorphic arm posture during tele-operation tasks. The method was assessed in simulation and experiments were performed with virtual reality tracking tasks in a lab environment. The results showed that the robot achieves a human-like arm posture during tele-operation, and the subjects prefer to work with the biologically inspired robot. The proposed method can be applied in control of anthropomorphic robot manipulators for tele-operated collaborative tasks, such as in factories or in operating rooms.

Performance Analysis and Feedback Control of ATRIAS, A Three-Dimensional Bipedal Robot

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Alireza Ramezani ◽  
Jonathan W. Hurst ◽  
Kaveh Akbari Hamed ◽  
J. W. Grizzle
Keyword(s):  
Energy Efficiency ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Three Dimensional ◽  
The Body ◽  
Energetic Efficiency ◽  
Natural Terrain ◽  
Walking Speeds

This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. Assume The Robot Is A Sphere (ATRIAS) 2.1 is a new robot that has been designed for the study of 3D bipedal locomotion, with the aim of combining energy efficiency, speed, and robustness with respect to natural terrain variations in a single platform. The robot is highly underactuated, having 6 actuators and, in single support, 13 degrees of freedom. Its sagittal plane dynamics are designed to embody the spring loaded inverted pendulum (SLIP), which has been shown to provide a dynamic model of the body center of mass during steady running gaits of a wide diversity of terrestrial animals. A detailed dynamic model is used to optimize walking gaits with respect to the cost of mechanical transport (CMT), a dimensionless measure of energetic efficiency, for walking speeds ranging from 0.5 (m/s) to 1.4 (m/s). A feedback controller is designed that stabilizes the 3D walking gaits, despite the high degree of underactuation of the robot. The 3D results are illustrated in simulation. In experiments on a planarized (2D) version of the robot, the controller yielded stable walking.

Comparison of null-space and minimal null-space control algorithms

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 511-520 ◽  
Author(s):  
Bojan Nemec ◽  
Leon Žlajpah ◽  
Damir Omrčen
Keyword(s):  
Degrees Of Freedom ◽  
Null Space ◽  
Space Velocity ◽  
Control Algorithms ◽  
Robot Arm ◽  
Velocity Control ◽  
Redundant Robots ◽  
Operational Space ◽  
Space Projection ◽  
The Stability

SUMMARYThis paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian null-space. We show how the null-space projection affects the performance of the null-space tracking algorithm. The results are verified with the simulation and real implementation on a redundant mobile robot composed of 3 degrees of freedom (DOFs) mobile platform and 7-DOF robot arm.

scholarly journals A Novel, Oriented to Graphs Model of Robot Arm Dynamics

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 128
Author(s):  
George Boiadjiev ◽  
Evgeniy Krastev ◽  
Ivan Chavdarov ◽  
Lyubomira Miteva
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Computer Experiments ◽  
Kinematic Chain ◽  
Robot Arm ◽  
Conservation Of Energy ◽  
Interdisciplinary Field ◽  
Novel Approach ◽  
Robot Arm Control

Robotics is an interdisciplinary field and there exist several well-known approaches to represent the dynamics model of a robot arm. The robot arm is an open kinematic chain of links connected through rotational and translational joints. In the general case, it is very difficult to obtain explicit expressions for the forces and the torques in the equations where the driving torques of the actuators produce desired motion of the gripper. The robot arm control depends significantly on the accuracy of the dynamic model. In the existing literature, the complexity of the dynamic model is reduced by linearization techniques or techniques like machine learning for the identification of unmodelled dynamics. This paper proposes a novel approach for deriving the equations of motion and the actuator torques of a robot arm with an arbitrary number of joints. The proposed approach for obtaining the dynamic model in closed form employs graph theory and the orthogonality principle, a powerful concept that serves as a generalization for the law of conservation of energy. The application of this approach is demonstrated using a 3D-printed planar robot arm with three degrees of freedom. Computer experiments for this robot are executed to validate the dynamic characteristics of the mathematical model of motion obtained by the application of the proposed approach. The results from the experiments are visualized and discussed in detail.

scholarly journals A Novel Kinematic Directional Index for Industrial Serial Manipulators

2020 ◽  
Vol 10 (17) ◽  
pp. 5953 ◽  
Author(s):  
Giovanni Boschetti
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Maximum Speed ◽  
Robot Arm ◽  
Serial Manipulators ◽  
Six Degrees Of Freedom ◽  
Serial Robot ◽  
Novel Method ◽  
Points Of View ◽  
Articulated Robot

In the last forty years, performance evaluations have been conducted to evaluate the behavior of industrial manipulators throughout the workspace. The information gathered from these evaluations describes the performances of robots from different points of view. In this paper, a novel method is proposed for evaluating the maximum speed that a serial robot can reach with respect to both the position of the robot and its direction of motion. This approach, called Kinematic Directional Index (KDI), was applied to a Selective Compliance Assembly Robot Arm (SCARA) robot and an articulated robot with six degrees of freedom to outline their performances. The results of the experimental tests performed on these manipulators prove the effectiveness of the proposed index.

scholarly journals Research on kinematic structure of a redundant serial industrial robot arm

2016 ◽  
Vol 19 (3) ◽  
pp. 24-33
Author(s):  
Hung Minh Vu ◽  
Trung Quang Trinh ◽  
Thang Quoc Vo
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Inverse Kinematic ◽  
Kinematic Structure ◽  
Robot Arm ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Serial Robot ◽  
Inverse Kinematic Analysis

This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.

scholarly journals A universal algorithm for sensorless collision detection of robot actuator faults

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774071 ◽  
Author(s):  
Saixuan Chen ◽  
Minzhou Luo ◽  
Feng He
Keyword(s):  
Dynamic Model ◽  
Collision Detection ◽  
Degrees Of Freedom ◽  
Detection Algorithm ◽  
Friction Model ◽  
Robot Arm ◽  
Actuator Faults ◽  
Universal Algorithm ◽  
Working Space ◽  
And Performance

When a robot is working properly, it is possible to collide with people or objects entering its working space. This research is different than usual control algorithm. It proposes a universal algorithm for sensorless collision detection of robot actuator faults to enhance the security of the robot. On the basis of the dynamic model, a classical friction model to ensure the accuracy of the whole dynamic model is introduced. This collision detection algorithm can conduct without any external sensors or acceleration and realize the real-time detection just needs to measure the motor current and the location information from the encoder of the robot joint. The value of external torque τext was used to compare with the threshold to detect the collision. After using the proposed collision detection method, the two rotational (2R) planar manipulators can detect the slight collision reliably. The experimental results and performance comparisons show that this sensorless collision detection algorithm is simple and effective. It can be promoted to any other type of robot arm with more degrees of freedom.

An Analysis of Actual Energy Savings in an Indian Cement Industry Through an Energy Efficiency Index

2012 ◽  
Vol 9 (8) ◽  
pp. 829-840 ◽  
Author(s):  
R. Saidur ◽  
M. T. Sambandam ◽  
M. Hasanuzzaman ◽  
D. Devaraj ◽  
S. Rajakarunakaran
Keyword(s):  
Energy Efficiency ◽  
Energy Savings ◽  
Efficiency Index ◽  
Cement Industry

scholarly journals Minimal Monitoring of Improvements in Energy Performance after Envelope Renovation in Subsidized Single Family Housing in Madrid

2020 ◽  
Vol 13 (1) ◽  
pp. 235
Author(s):  
Fernando Martín-Consuegra ◽  
Fernando de Frutos ◽  
Ignacio Oteiza ◽  
Carmen Alonso ◽  
Borja Frutos
Keyword(s):  
Energy Efficiency ◽  
Energy Savings ◽  
Low Cost ◽  
Energy Performance ◽  
Quality Parameters ◽  
Urban Setting ◽  
Single Family ◽  
Nineteen Fifties ◽  
Environment Quality ◽  
Urban Complex

This study quantified the improvement in energy efficiency following passive renovation of the thermal envelope in highly inefficient residential complexes on the outskirts of the city of Madrid. A case study was conducted of a single-family terrace housing, representative of the smallest size subsidized dwellings built in Spain for workers in the nineteen fifties and sixties. Two units of similar characteristics, one in its original state and the other renovated, were analyzed in detail against their urban setting with an experimental method proposed hereunder for simplified, minimal monitoring. The dwellings were compared on the grounds of indoor environment quality parameters recorded over a period covering both winter and summer months. That information was supplemented with an analysis of the energy consumption metered. The result was a low-cost, reasonably accurate measure of the improvements gained in the renovated unit. The monitoring output data were entered in a theoretical energy efficiency model for the entire neighborhood to obtain an estimate of the potential for energy savings if the entire urban complex were renovated.

scholarly journals Real-World Implementation of an ICT-Based Platform to Promote Energy Efficiency

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2416
Author(s):  
Marina Dorokhova ◽  
Fernando Ribeiro ◽  
António Barbosa ◽  
João Viana ◽  
Filipe Soares ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Real World ◽  
Energy Savings ◽  
Quality Parameters ◽  
Horizon 2020 ◽  
Flexible Devices ◽  
Information And Communication ◽  
Energy Consuming ◽  
And Behavior ◽  
And Control

The energy efficiency requirements of most energy-consuming sectors have increased recently in response to climate change. For buildings, this means targeting both facility managers and building users with the aim of identifying potential energy savings and encouraging more energy-responsible behaviors. The Information and Communication Technology (ICT) platform developed in Horizon 2020 FEEdBACk project intends to fulfill these goals by enabling the optimization of energy consumption, generation, and storage and control of flexible devices without compromising comfort levels and indoor air quality parameters. This work aims to demonstrate the real-world implementation and functionality of the ICT platform composed of Load Disaggregation, Net Load Forecast, Occupancy Forecast, Automation Manager, and Behavior Predictor applications. Particularly, the results obtained by individual applications during the test phase are presented alongside the specific metrics used to evaluate their performance.

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