Economical Control of Robot Systems Using Potential Energy

2010.

Cited by: 0|Bibtex|Views2|DOI:https://doi.org/10.1007/978-3-7091-0277-0_38
Other Links: academic.microsoft.com

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 manipul...More

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