Economical Control Of Robot Systems Using Potential Energy

ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL（2010）

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摘要

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 2DOF planar manipulator.

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关键词

Multibody System, Robot System, Trajectory Planning, Optimal Control Theory, Storage Element

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