Minimization of Energy Consumption for a Manipulator with Nonlinear Friction in PTP Motion
Minimization of Energy Consumption for a Manipulator with Nonlinear Friction in PTP Motion
复制标题
PTP 运动中非线性摩擦机械臂能耗最小化
DOI：
10.7210/jrsj.13.1179
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
T. Izumi
中科院分区：
文献类型：
--
作者：
T. Izumi
机器人工程主要在可理解性领域发展，例如在操作中。考虑到机器人的广泛应用，机器人是一种能量转换的机器，因此应从节能的角度来研究机器人，本文研究了采用点对点控制方法驱动的机械手的能量消耗最小化问题。当机械手的连杆减速以进行定位时，关节处的电机产生电力。由于这种能量可以通过使用斩波器再生到源，所以机械手的能量消耗仅是由电和摩擦阻力的热损失。最小化这些损失的总和减少到一个两点边值问题的非线性微分方程。利用广义牛顿-拉夫森法求解该方程。在这种情况下，从节省能量的角度选择用于最优解的起始函数。仿真结果表明，在一定条件下，双连杆机械手的第二连杆应向后转动。
Robot engineering is developed mainly in the field of intelligibility such as in a manipulation. Considering the wide use of robots in the future, the robots should be studied from a viewpoint of saving energy because a robot is a kind of machine with an energy conversion.This paper deals with minimizing the energy consumption of a manipulator which is driven in a point-to-point control method. When the links of a manipulator are decelerated for positioning, the motors at the joints generate electric power. Since this energy can be regenerated to the source by using a chopper, the energy consumption of a manipulator is only by the heat loss of the electric and the frictional resistances. The minimization of the sum of these losses is reduced to a two-point boundary-value-problem of a nonlinear differential equation. The solutions of the equations are obtained by the generalized Newton-Raphson method. In this case the starting function for an optimal solution is selected from a view point of saving energy. It is seen from simulations that the second link of a two-link manipulator should be rotated backward in a certain condition.