Energy savings of a 2-DOF manipulator with redundant actuation

被引：0
|
作者：
Lee, Giuk [1 ]
Lee, Donghun [2 ]
Jeong, Jayil [3 ]
Kim, Jongwon [1 ]
机构：
[1] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul, South Korea
[2] Soongsil Univ, Dept Mech Engn, Seoul, South Korea
[3] Kookmin Univ, Sch Mech Engn, Seoul, South Korea
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年
关键词：
DYNAMICS; MOTIONS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper covers the energy-saving features of a robotics system by redundant actuation. By installing more actuators than the degrees of freedom, the actuating torques can be distributed. This distribution can reduce the overall energy loss, which reduces the overall energy consumption. An experiment was conducted with a 2-DOF general manipulator and redundant actuated manipulator; these were made to follow a typical welding pathway used in an automotive factory. The results showed that the redundant manipulator saved up to 38% electrical energy for actuation compared to the general manipulator.
引用
收藏
页码：5076 / 5081
页数：6
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