Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of SEA-Actuated Parallel Kinematic Manipulators
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks tend to automatically run for a long period of time and therefore minimizing energy consumption is always of interest. Recent research addresses this topic by the use of elastic elements and particularly series elastic actuators (SEA). This paper explores the possibilities of minimizing energy consumption of SEA actuated PKM performing pick-and-place tasks. The basic idea is to excite eigenmotions that result from the actuator springs and exploit their oscillating characteristics. To this end, a prescribed cyclic pick-and-place operation is analyzed and a dynamic model of SEA driven PKM is derived. Subsequently, an energy minimizing optimal control problem is formulated where operating trajectories as well as SEA stiffnesses are optimized simultaneously. Here, optimizing the actuator stiffness does not account for variable stiffness actuators. It serves as a tool for the design and dimensioning process. The hypothesis on energy reduction is tested on two (parallel) robot applications where redundant actuation is also addressed. The results confirm the validity of this approach.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not f…
Energy-Aware UAV-Enabled Target Tracking: Online Optimization with Location Constraints
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these tw…
Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
In robotics and biomechanics, trading metabolic cost for kinematic readiness is a well-established principle. This paper formalizes this concept for aerial multirotors through the introduction of aerodynamic promptness -…
Optimal Time-Invariant Formation Tracking for a Second-Order Multi-Agent System
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical …
PositionMachine Learning-Guided Design of Non-Reciprocal and Asymmetric Elastic Chiral Metamaterials
There has been significant recent interest in the mechanics community to design structures that can either violate reciprocity, or exhibit elastic asymmetry or odd elasticity. While these properties are highly desirable …
Bayesian Optimization