Minimum energy control of redundant actuation machine tools

CIRP Annals - Manufacturing Technology

Volumn 60, Issue 1, 2011, Pages 433-436

  Halevi, Yoram ^a   Carpanzano, Emanuele ^b   Montalbano, Giuseppe ^b   Koren, Yoram ^c  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

^b CNR   (Italy)

^c UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Control; Manipulator; Optimisation

Indexed keywords

DEGREES OF FREEDOM; ENDEFFECTOR MOTION; MINIMIZING ENERGY; MINIMUM ENERGY CONTROL; NUMBER OF ACTUATORS; NUMBER OF DEGREES OF FREEDOM; OPTIMAL CONTROL THEORY; OPTIMAL DISTRIBUTIONS; OPTIMISATIONS; PHYSICAL LIMITATIONS; REDUCTION IN ENERGY CONSUMPTION; REDUNDANT ACTUATION; SIMULATION RESULT; WORK FOCUS;

ACTUATORS; ENERGY UTILIZATION; MECHANICS; OPTIMIZATION;

MACHINE TOOLS;

EID: 79957645462     PISSN: 00078506     EISSN: 17260604     Source Type: Journal    
DOI: 10.1016/j.cirp.2011.03.032     Document Type: Article

References (21)

1. A.A. Maciejewski, and C.A. Klein Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments The International Journal of Robotics Research 4 3 1985 109 116
2. M. Galicki Path Following by the End-effector of a Redundant Manipulator Operating in a Dynamic Environment IEEE Transaction on Robotics 20 6 2004 1018 1025 (Pubitemid 40009481)
3. T. Larkworthy, and G. Hayes Utilizing Redundancy in Modular Robots to Achieve Greater Accuracy Int. Conf. on Robot Communication and Coordination 2009 1 6
4. Y. Koren End-effector Guidance of Robot Arms CIRP Annals-Manufacturing Technology 36 1987 289 292
5. K. Ohishi, H. Nozawa, and T. Miyazaki Redundant Manipulator Control with Autonomous Consideration Algorithm of Torque Saturation IEEE Int. Symposium on Industrial Electronics, vol.: 1 1999 145 150 (Pubitemid 30533214)
6. D. Jeon, K. Kima, J. Jeongb, and J. Kim A Calibration Method of Redundantly Actuated Parallel Mechanism Machines based on Projection Technique CIRP Annals-Manufacturing Technology 59 2010 413 416
7. A. Bowling, and S. Harmeyer Repeatable Redundant Manipulator Control Using Nullspace Quasivelocities Journal of Dynamic Systems, Measurement and Control 132 3 2010 031007
8. S. Ma, and M. Watanabe Time Optimal Path-tracking Control of Kinematically Redundant Manipulators JSME International Journal, Series C 47 2 2004 582 590 (Pubitemid 39282466)
9. D. Enns Control Allocation Approaches Proc. AIAA Guidance, Navigation, and Control Conference 1998
10. P. Malysz, and S. Sirouspour Dual-master Teleoperation Control of Kinematically Redundant Robotic Slave Manipulators IEEE/RSJ Int. Conference on Intelligent Robots and Systems 2009 5115 5120
11. Y. Koren Variable-gain Cross-coupling Controller for Contouring CIRP Annals-Manufacturing Technology 40 1991 371 374 (Pubitemid 21681364)
12. J. Xiang, C. Zhong, and W. Wei General-weighted Least-norm Control for Redundant Manipulators IEEE Transactions on Robotics 26 4 2010 660 669
13. Cardinale M, Carpanzano E, et al. (2010) Method for Managing Systems Provided with Redundant Actuators. United States Patent No: US 7,710,060 B2, May 4, 2010.
14. Y. Altintas, and B. Sencer High Speed Contouring Control Strategy for Five Axis Machine tools CIRP Annals-Manufacturing Technology 59 2010 417 420
15. T. Devoldere, W. Dewulf, W. Deprez, B. Willems, and J.R. Duflou Improvement Potential for Energy Consumption in Discrete Part Production Machines 14th CIRP Conference on LCE 2007 311 316
16. A. Vijayaraghavan, and D. Dornfeld Automated Energy Monitoring of Machine Tools CIRP Annals-Manufacturing Technology 59 2010 21 24
17. S. Ma Local Torque Optimization of Redundant Manipulators in Torque-based Formulation Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON'94, IEEE, vol.: 2 1994 697 702
18. Y. Zhang, and S. Ma Minimum-energy Redundancy Resolution of Robot Manipulators Unified by Quadratic Programming and its Online Solution IEEE Int. Con. on Mechatronics and Automation, ICMA 2007 2007 3232 3237 (Pubitemid 350245165)
19. A.R. Hirakawa, and A. Kawamura Proposal of Trajectory Generation for Redundant Manipulators using Variational Approach and the Application to Consumed Electrical Energy Minimization IEEE Proc. of Advanced Motion Control 1996 687 692
20. E. Budak, E. Ozturk, and L.T. Tunc Modelling and Simulation of 5-Axis Milling Processes CIRP Annals-Manufacturing Technology 58 2009 347 350
21. A.E. Bryson, and Y.C. Ho Applied Optimal Control: Optimization Estimation and Control 1975 Hemisphere Publishing Co. Washington, DC