Abstract
Wire-based Stewart-Gough platforms are known to allow fast movements of the end-effector. But as for every robotic system, their performance and energy efficiency can be optimized by the generation of end-effector trajectories suited for that particular robot type. In this contribution the optimal control strategy is applied on an innovative wire-based storage-retrieval machine in order to design time, power and energy optimal trajectories.
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Notes
- 1.
Defined as the time to move the platform from the input/output point to a storage position and back.
- 2.
Defined as the time to move the platform from the input/output point to a storage position, to another storage position and back to the input/output point.
- 3.
Point-To-Point.
- 4.
It means that the trajectory is continuously differentiable up to its third derivative, i.e. the platform jerk.
- 5.
Since Eq. (1) is underdetermined f may be solved by a quadratic optimization algorithm subject to f { min} ≤ f ≤ f { max}.
- 6.
These factors extremely differ due to the involved physical units where time is given in seconds and power in Watt.
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Lalo, W., Bruckmann, T., Schramm, D. (2013). Optimal Control for a Wire-Based Storage Retrieval Machine. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_66
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DOI: https://doi.org/10.1007/978-94-007-4902-3_66
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