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Energies 2017, 10(5), 647; doi:10.3390/en10050647

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Laboratory of Automation and Hydraulic Engineering, Tampere University of Technology, P.O. Box 589 (Korkeakoulunkatu 6), FIN-33101 Tampere, Finland
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Academic Editor: Andrea Vacca
Received: 15 March 2017 / Revised: 13 April 2017 / Accepted: 3 May 2017 / Published: 6 May 2017
(This article belongs to the Special Issue Energy Efficiency and Controllability of Fluid Power Systems)

Abstract

This 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
Keywords: hydraulic manipulator; redundancy resolution; energy optimisation; energy-optimal; global; dynamic programming; actuator limits; load-sensing system; constant-pressure system; mobile hydraulic valve hydraulic manipulator; redundancy resolution; energy optimisation; energy-optimal; global; dynamic programming; actuator limits; load-sensing system; constant-pressure system; mobile hydraulic valve
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Nurmi, J.; Mattila, J. Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator. Energies 2017, 10, 647.

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