Global energy-optimised redundancy resolution in hydraulic manipulators using dynamic programming

Nurmi, Jarmo; Mattila, Jouni

doi:10.1016/j.autcon.2016.09.006

Cited by 11 publications

(7 citation statements)

References 14 publications

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“…This paper is an extension of our previous work [21]. As an extension of previous work, redundancy resolution is expanded from vertical plane three-degrees-of-freedom (3-DOF) serial-link hydraulic manipulators to complex 4-DOF serial-link hydraulic manipulators, which include boom base motion.…”

Section: Paper Contribution and Organizationmentioning

confidence: 99%

“…A demonstratively simple example of the DP algorithm has been presented, e.g., by Nurmi and Mattila [21]. The utilised general Matlab-coded DP algorithm can be found from Sundstrom and Guzzella [32].…”

Section: -(35)mentioning

confidence: 99%

“…The four-bar linkage of the tilt cylinder is governed by more complex kinematic equations. These equations, from the tilt angle q 3 to tilt cylinder length c 3 , can be written as follows: (14) where α 21 24 and L 25 are the constants and β 22 , β 23 , β 24 and L 26 are the variables (see Figure 8b, where q 3 is negative). Laws of cosines and sines were used.…”

Section: Joint Space To Actuator Space Transformationsmentioning

confidence: 99%

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

Nurmi

Mattila

2017

Energies

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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.

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Section: Paper Contribution and Organizationmentioning

confidence: 99%

Section: -(35)mentioning

confidence: 99%

Section: Joint Space To Actuator Space Transformationsmentioning

confidence: 99%

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

Nurmi

Mattila

2017

Energies

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“…This socalled redundancy gives manipulator dexterity and flexibility in performing tasks [8][9][10]. The three major In kinematic control, researchers have investigated different methods to come around the problem of redundancy resolution for the manipulators with known kinematic model [17][18][19][20]. The classical approach is the use of Jacobian matrix pseudo-inverse (JMPI) for the solution of redundancy resolution problem [21,22].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

Khan

Cao

et al. 2022

EAI Endorsed Trans AI Robotics

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This paper presents a model-free real-time kinematic tracking controller for a redundant manipulator. Redundant manipulators are common in industrial applications because of the flexibility and dexterity they get from redundant joints. However, at the same time, the modeling of these systems becomes quite challenging, even for simple tasks like trajectory tracking. Some classical approaches are being used to tackle the issue, including a numerical approximation of the Jacobian and pseudo-inverse of the Jacobian matrix. These approaches have their limitations as they require exact parameters for the modeling of the manipulator; they are not immune to position error accumulation with time and put the manipulator way off the target position. Swarm-based meta-heuristic algorithms have given a new direction to the solution of the redundancy resolution problem. However, they are computationally intensive, formulated in discrete-time, and better suited for offline computation rather than real-time. We proposed a novel continuous-time Zeroing Neural Network with Beetle Antennae Search (ZNNBAS). The ZNNBAS algorithm can solve the quadratic optimization problem for redundancy resolution in real-time. To test its performance, we applied it on 7-DOF redundant manipulator with two trajectories to follow: character ``M" and hypotrochoid. The manipulator was able to trace the reference trajectories with minimal tracking errors.

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“…agriculture and forestry. An example is found in [25,26], where dynamic programming is used in the energy optimization of the hydraulic system of forestry equipment. In contrast to the examples in [14,15,16,17,22,23,25,26], in this paper the complete machine is considered.…”

Section: Introductionmentioning

confidence: 99%

Optimal control of wheel loader actuators in gravel applications

Frank

Kleinert

Filla

2018

Automation in Construction

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Global energy-optimised redundancy resolution in hydraulic manipulators using dynamic programming

Cited by 11 publications

References 14 publications

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

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

Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

Optimal control of wheel loader actuators in gravel applications

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