Energy Saving Effect Mapping of Redundant Actuation in Workspace

Lee, Giuk; Park, Sumin; Kim, Hongmin; Jeong, Jayil; Kim, Jong-Won

doi:10.1016/j.procir.2014.07.071

Cited by 4 publications

(5 citation statements)

References 13 publications

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“…Regarding redundant PKMs, MPC techniques have been exploited for deriving control strategies for redundantly actuated PKM. [22][23][24][25] For instance, the technique has been used for deriving a force/position control scheme for a 5-DOF redundant actuation parallel manipulator 23 and for deriving an augmented PD control for a planar 2-DOF redundantly actuated PKM. 24 In fact, one of the main contributions of this manuscript is the proposal of a redundancy resolution scheme for kinematically redundant manipulators using MPC technique.…”

Section: Introductionmentioning

confidence: 99%

“…24 In fact, one of the main contributions of this manuscript is the proposal of a redundancy resolution scheme for kinematically redundant manipulators using MPC technique. Recently, 25 claimed that the presence of redundant actuators can yield energy savings. The authors evaluated the energy loss of a 2-DOF kinematically redundant manipulator using numerical results depicted on the workspace.…”

Section: Introductionmentioning

confidence: 99%

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On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

Ruiz¹,

Santos²,

Croes

et al. 2018

Robotica

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SUMMARYNovel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3PRRR manipulator, is experimentally verified. Because of the presence of the kinematic redundancies, the inverse kinematic problem presents infinity solutions. In this way, a redundancy resolution scheme based on the Model Predictive Control technique is proposed and exploited. It can be concluded that the energy consumption of the non-redundant parallel manipulator 3RRR for executing predefined tasks can be considerably reduced by the inclusion of kinematic redundancies.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

Ruiz¹,

Santos²,

Croes

et al. 2018

Robotica

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show abstract

“…The control points are equally spaced in time, as shown in Figure 2. Among the 11 control points, the first and last three points are clamped as in equation 5, so as to restrict the startand end-joint motions, as shown in equation (6).…”

Section: Such Thatmentioning

confidence: 99%

“…3 Recently, the advantages offered by RAPMs with respect to energy efficiency have also been examined. [4][5][6] As a result of these various benefits, RAPMs are used in many applications, such as robotic fingers, motion simulators, haptic devices, and machining centers. [7][8][9] To achieve high performance, optimal operation planning methods for RAPMs have been investigated.…”

Section: Introductionmentioning

confidence: 99%

Optimal trajectory planning considering optimal torque distribution of redundantly actuated parallel mechanism

Park

Kim

Lee

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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Previous studies on the optimal operation planning of redundantly actuated parallel mechanisms have focused on optimal torque distribution for a predefined trajectory. However, the optimized result obtained for a predefined trajectory cannot guarantee an optimal operation plan, because the torque distribution ability of a redundantly actuated parallel mechanism is highly dependent on the shape of the end-effector trajectory. Therefore, we can expect the redundantly actuated parallel mechanism performance to be enhanced when both the trajectory and torque distribution are optimized during the optimal operation planning stage. We propose a novel redundantly actuated parallel mechanism optimization procedure that can optimize both the end-effector trajectory and torque distribution. The proposed procedure is composed of two stages of optimizers, i.e. upper- and lower-level optimizers that generate the end-effector trajectory and distribute the torques along the generated trajectory, respectively. Composition of these two stages of the optimization procedure allows optimization of both the trajectory and torque distribution, despite the correlation between them. The proposed optimization procedure is simulated using two types of cost functions. All the simulation results show that the proposed procedure facilitates optimization of the end-effector trajectory and the torque distribution concurrently. Also, the cost function value is minimized to a greater extent than in the result with the optimal torque distribution along the initial trajectory.

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“…The benefits of actuation redundancy regarding to energy savings on robotic manipulators were studied in Lee et al (2015). In Cheng et al (2001), it is claimed that actuation redundancy in parallel manipulators can reduce the presence of singularities, can provide the homogenization of the torques and forces, and may increase the stiffness of the manipulator.…”

Section: Kinematic Redundancymentioning

confidence: 99%

Increasing the energy efficiency of parallel manipulators by means of kinematic redundancy and Model Predictive Control

Ruiz¹

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This work is dedicated to my beloved colleague Carlos Perez, who had the ability to teachme how to study science. AGRADECIMENTOS"Cada pessoa que passa na nossa vida, passa sozinha, porque cada pessoa é única e nenhuma substitui a outra. Cada pessoa que passa pela nossa vida passa sozinha, não nos deixa só, porque deixa um pouco de si e leva um pouquinho de nós. Essa é a mais bela responsabilidade da vida e a prova de que as pessoas não se encontram por acaso." Charles Chaplin "GRATIDÃO", Essa palavra resume exatamente o que sinto nesse momento, tantos anos de trabalho, dor e incertezas que foram vencidos com muito esforço porem não sozinho, tenho tanto a agradecer por isso que deixo registrado a baixo um pouco desse sentimento, difícil vai ser expressar com apenas algumas palavras toda essa gratidão.• • Ao coordenador do projeto EMVeM Bert Pluymers pela sua profissionalidade e disponibilidade para resolver os problemas burocráticos e pessoais que puderam surgir.• Ao professor Wim Desmet e em especial ao companheiro Jan Croes por me servir de apoio e orientação durante a minha estadia na Universidade católica de Leuven na Bélgica.• A comissão Europeia e o programa Marie Curie pelo apoio financeiro.• Aos companheiros e professores do involucrados no projeto EMVeM pois em todas as reuniÃµes desfrutamos de boas discussões cientificas, boas conversas, gastronomia e um intercambio cultural que sempre recordarei como momentos felizes da minha vida.• A todos os companheiros do Laboratório de Dinâmica, não vou citar nomes para não correr o risco de esquecer de alguém e ser injusto. É difícil expressar a alegria de ter compartilhado incríveis momentos de trabalho e aprendizado ao longo desses anos, sem esquecer é claro dos momentos de descontração e confraternização em nossos churrascos e o futebol de vez em quando.• The use of robotic manipulators in industrial applications is continuously growing. Therefore, the proposal of novel kinematic architectures for robotic manipulators can be a strategy for coping with the required performance of specific tasks. On this matter, the parallel manipulators represent an alternative to fulfill this gap. The objective of this manuscript is to prove that the energy efficiency of parallel manipulators can be increased by the use of kinematic redundancy. Due to the presence of kinematic redundancy, the number of solutions to the inverse kinematics problem become infinite. Hence, a redundancy resolution scheme is required to select a suitable one among the infinite solutions. In this work, a model predictive control (MPC) based method is proposed as redundancy resolution scheme. This proposal is evaluated numerically and experimentally by comparing the energy consumption of non-redundant and kinematically redundant manipulators during the execution of pre-defined tasks. The non-redundant manipulator under study is the planar parallel 3RRR manipulator. This manipulator consists of three identical kinematic chains containing one active revolute joint and two passive revolute joints. Kinema...

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Energy Saving Effect Mapping of Redundant Actuation in Workspace

Cited by 4 publications

References 13 publications

On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

Optimal trajectory planning considering optimal torque distribution of redundantly actuated parallel mechanism

Increasing the energy efficiency of parallel manipulators by means of kinematic redundancy and Model Predictive Control

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