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Economical Control of Robot Systems Using Potential Energy

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ROMANSY 18 Robot Design, Dynamics and Control

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 524))

Abstract

This paper considers the problem to minimize the energy consumption of horizontal robot systems utilizing passive storage elements. We propose a simultaneous optimization method for trajectory planning and power saving based on the optimal control theory. The effectiveness of the design method is demonstrated for a 2DOF planar manipulator.

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Bibliography

  • M. Iwamura, P. Eberhard, W. Schiehlen, and R. Seifried. A general purpose optimal trajectory planning algorithm for multibody systems. In Proceedings of the 28th I A ST ED International Conference on Modeling, Identification, and Control, K.M., Mangos (ed.), pages 55–62, 2009.

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  • W. Schiehlen and N. Guse. Power demand of actively controlled multibody systems. In Proceedings of DETC, ASME paper DETC/VIB 21343, 2001.

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  • W. Schiehlen and M. Iwamura. Minimum energy control of multibody systems utilizing storage elements. In Proceedings of DETC, ASME paper DETC2009 86327, 2009.

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Author information

Authors and Affiliations

  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Stuttgart, Germany

    Werner Schiehlen

  2. Department of Mechanical Engineering, Fukuoka University, Fukuoka, Japan

    Makoto Iwamura

Authors
  1. Werner Schiehlen
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  2. Makoto Iwamura
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Editor information

Editors and Affiliations

  1. University of Bologna, Italy

    Vincenzo Parenti Castelli

  2. University of Stuttgart, Germany

    Werner Schiehlen

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© 2010 CISM, Udine

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Cite this paper

Schiehlen, W., Iwamura, M. (2010). Economical Control of Robot Systems Using Potential Energy. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_38

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  • DOI: https://doi.org/10.1007/978-3-7091-0277-0_38

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-0276-3

  • Online ISBN: 978-3-7091-0277-0

  • eBook Packages: EngineeringEngineering (R0)

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