ScienceDirect 12 th Global Conference on Sustainable Manufacturing Quasi-linearization Approach for the Under-actuated Robots
ScienceDirect 12 th Global Conference on Sustainable Manufacturing Quasi-linearization Approach for the Under-actuated Robots
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ScienceDirect 第 12 届全球可持续制造欠驱动机器人准线性化方法会议
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Ahmed Abu Haniehb
中科院分区：
文献类型：
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作者：
Ahmad Albalasiea;Arne Gloddea;Guenther Seligera;Ahmed Abu Haniehb
介绍了一种利用冗余度和欠驱动结构来降低工业机器人能耗的新技术。研究集中在运动学上，包括一个被动轴，它导致科里奥利力和离心力的高度非线性耦合以及大惯性耦合。通过求解一系列线性两点边值问题来控制末端执行器在两点之间的运动，从而解决了满足位置精度、精度和重复性的要求以及对速度、加速度和扭矩的要求。这种方法的优点是大大减少了计算时间，节省了计算机存储空间，并且能够对非线性模型进行线性化。此外，最优轨迹被确定为最小化能量消耗和实现高速能力。数值模拟结果验证了理论分析的正确性。©2014作者。由Elsevier B.V.出版，《装配技术和工厂管理/柏林工业大学负责下的同行审查》。
A novel technique to reduce energy consumption for industrial robots by using redundancy and under-actuated configurations is introduced in this paper. The study concentrates on kinematics including a passive axis which causes a highly nonlinear coupling of the Coriolis and centrifugal forces and high inertia coupling. The challenge of meeting the requirements of position accuracy, precision, and repeatability combined with the requirements for the speed, acceleration, and torque is coped with by solving a sequence of linear two point boundary value problems for controlling the movement of the end effector between two points. The advantages of this method are the ability of reducing the computation time dramatically, computer storage, and linearizing the nonlinear model. Furthermore the optimal trajectories are identified with minimizing energy consumption and enabling high speed capability. Numerical simulations are conducted to validate the theoretical analysis. © 2014 The Authors. Published by Elsevier B.V. Peer-review under responsibility of Assembly Technology and Factory Management/Technische Universität Berlin.