Table of Contents
Energies, Volume 10, Issue 5 (May 2017)
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Cover Story Energy-optimal kinematic redundancy resolution is required for future robotic closed-loop [...] Read more. Energy-optimal kinematic redundancy resolution is required for future robotic closed-loop controlled applications of heavy-duty hydraulic manipulators. Kinematic redundancy of typical four-degrees-of-freedom hydraulic manipulators was thus effectively resolved as an optimal control problem with respect to minimum energy consumption of the widely popular constant-pressure (CP) and load-sensing (LS) hydraulic systems. The performance of the proposed energy-optimal redundancy resolution was compared with other redundancy resolutions along three Cartesian paths by measuring the hydraulic energy consumption of a forestry manipulator along these paths. With the significantly reduced energy consumption of the forestry manipulator using joint motions of the proposed redundancy resolution compared with those of conventional redundancy resolutions, the energy-inefficiency problem of valve-controlled hydraulic systems was addressed. View this paper