A dynamic approach to nominal trajectory synthesis for redundant manipulators

Vukobratović, Miomir; Kirćanski, Manja

doi:10.1109/tsmc.1984.6313329

Cited by 112 publications

(36 citation statements)

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“…These different solutions, however, do not discuss hydraulic energy-optimality. In addition, generally minimising the energy consumption of actuators, as proposed by Vukobratovic and Kircanski [14] as a local solution and developed by Hirakawa and Kawamura [15] as an optimal control problem, can be a sub-optimal strategy for hydraulic manipulators. This is a direct consequence of the fact that the actuators' energy consumption does not equate to the energy consumption of the typical valve-controlled load-sensing (LS) and constant-pressure (CP) hydraulic systems because the pressure losses encountered in these systems are not considered.…”

Section: Literature Reviewmentioning

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: Literature Reviewmentioning

confidence: 99%

Section: Joint Space To Actuator Space Transformationsmentioning

confidence: 99%

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

Nurmi

Mattila

2017

Energies

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“…This problem is circumvented by applying the Quasi-Lagrange approach. The Quasi-Lagrange approach was used earlier to derive the equations of motion of a space structure (Vukobratovic & Kircanski, 1984). Fossen mentioned the use of the same approach to model an AUV (Fossen, 1984).…”

Section: Uvms Dynamicsmentioning

confidence: 99%

Unified Dynamics-based Motion Planning Algorithm for Autonomous Underwater Vehicle-Manipulator Systems (UVMS)

Tarun¹,

Sarkar²

2007

Mobile Robots: Perception &Amp; Navigation

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“…Several different tasks and their corresponding forward kinematics and Jacobian matrices are defined in [3]. Examples of such secondary tasks are manipulability maximization, obstacle avoidance, joint limit avoidance, actuator power consumption, etc [10]- [13]. A task-priority framework has been successfully implemented within the TRIDENT EU FP7 project [14].…”

Section: Introductionmentioning

confidence: 99%

Null-space-based behavior guidance of planar dual-arm UVMS

Moe

Antonelli

Pettersen

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Abstract-Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The desired behavior of the system is expressed as different tasks, and the reference trajectories are calculated using pseudo-inverse Jacobian task matrices and the null-space-based method. The proposed method has been implemented for a particular planar UVMS and simulated for a defined set of tasks. Simulation results confirm the correctness of the proposed method.

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A dynamic approach to nominal trajectory synthesis for redundant manipulators

Cited by 112 publications

References 0 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

Unified Dynamics-based Motion Planning Algorithm for Autonomous Underwater Vehicle-Manipulator Systems (UVMS)

Null-space-based behavior guidance of planar dual-arm UVMS

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