Experimental validation of advanced minimum energy robot trajectory optimization
Experimental validation of advanced minimum energy robot trajectory optimization
复制标题
先进最小能量机器人轨迹优化的实验验证
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
T. Ortmaier
中科院分区：
文献类型：
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作者：
Christian Hansen;J. Kotlarski;T. Ortmaier
提高自动化和机器人系统的能源效率在工程研究中仍然具有很高的意义。本文介绍了多轴机械手的最小能量轨迹优化的实验结果，通过共享逆变器直流环节的电能交换。因此，现有的模拟结果表明所提出的最小能量优化方法的潜力进行了验证。在这种情况下，应用全局优化方法，其利用基于包括所有伺服驱动器部件的能量流模型的高级成本函数公式。在验证了所用的系统模型之后，证明了效率的提高，并与所建立的方法进行了比较。所提出的方法以及实验结果是完全可转移到任何类型的多轴系统，包括直流环节能源供应。
The improvement of energy efficiency in automation and robotic systems still has high significance in engineering research. This paper presents experimental results of minimum energy trajectory optimization for multi-axis manipulators using electrical energy exchange via the shared inverter DC link. Thus, existing simulation findings demonstrating the potential of the proposed minimum energy optimization approach are validated. In this context, a global optimization method is applied utilizing an advanced cost function formulation that is based on an energy flow model including all servo drive components. After the validation of the utilized system model, increased efficiency improvements are proven and compared to established methods. The presented approach as well as the experimental results are fully transferable to any kind of multi-axis system comprising DC link energy supply.