Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator
AbstractThis paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF) hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS) and constant-pressure (CP) systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP) approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators. View Full-Text
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Nurmi, J.; Mattila, J. Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator. Energies 2017, 10, 647.
Nurmi J, Mattila J. Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator. Energies. 2017; 10(5):647.Chicago/Turabian Style
Nurmi, Jarmo; Mattila, Jouni. 2017. "Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator." Energies 10, no. 5: 647.
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