On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction

Ioslovich, Ilya; Gutman, Per‐Olof; Berger, Ari; Moshenberg, Shai

doi:10.1007/s10957-016-0913-2

Cited by 8 publications

(4 citation statements)

References 15 publications

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“…Figure 6 Variation of the cost of movement over a 200 m distance depending on the final execution time and the control lawThe influence of the execution time on the energy cost is predominant, in relation to the control law. This outcome is consistent with[19]. For an EV with the initial data specified above, the m 200 distance is done at a minimum cost if the travel…”

supporting

confidence: 75%

“…A start-stop motion, for example, with the steady-state regime has three sequences: starting, steady-state and braking regimes. If the control law is the minimum time 0 2  C and the velocity profile is trapezoidal, otherwise, the control law is the minimum RMS torque and the starting and braking velocity profiles are parabolic [19]. The continuity of position, velocity and acceleration (torque) for each sequence of the movement is fulfilled by the fact that final conditions of the past sequence are the initial conditions of the current sequence.…”

Section: Problem Formulationmentioning

confidence: 99%

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A Priori Cost of the Energy to Perform Movement on a Predefined Path

Costin¹,

Voncila²,

Bivol³

2018

ACTA POLYTECH HUNG

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The object of the paper is a priori energy cost estimation for the motion work performed by electric drive systems. We tested an original method for finding the efficiency of motion along a pre-specified path. Two mathematical models: the classic point-to-point trajectory planning and the interpolation model for the efficiency of the energy conversion process provide the data for energy cost estimation. First, the interpolation model was built using the electric drive actuator's data specifications. These data are the torque, speed, and efficiency for scattered steady-state operation points. The interpolation model builds the efficiency surface vs. torque and speed, which passes through all specification points of the actuator. If the required trajectory is superposed on the efficiency surface, we can find the incremental values of the efficiency which correspond to trajectories speed and torque. These quantities are necessary and sufficient for energy cost estimation of the motion along the desired trajectory. The a priori calculation of energy costs for electromechanical motion processes is an important means of preventing the energy wastage by adopting the minimum cost trajectory based on execution time, command law and load torque.

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supporting

confidence: 75%

Section: Problem Formulationmentioning

confidence: 99%

A Priori Cost of the Energy to Perform Movement on a Predefined Path

Costin¹,

Voncila²,

Bivol³

2018

ACTA POLYTECH HUNG

View full text Add to dashboard Cite

show abstract

“…Possible equivalencies between time optimization and energy optimization problems have been given preliminary consideration before. Ioslovich et al (2015Ioslovich et al ( , 2017 and Gutman et al (2015) state that by selection of special constraints for a rigid body with the dynamic equations of motion (Ioslovich et al 2017), the minimum time problem and minimum energy problem are equivalent which means that they result in the same trajectory. In their approach the final time for the energy-efficient problem is fixed as the optimal time taken from the solution of the minimum time problem.…”

Section: Energy and Time Optimization Equivalencymentioning

confidence: 99%

Energy-optimal trajectories for skid-steer rovers

Effati,

Skonieczny,

Balkcom

2023

The International Journal of Robotics Research

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This paper presents the energy-optimal trajectories for skid-steer rovers on hard ground, without obstacles. We obtain 29 trajectory structures that are sufficient to describe minimum-energy motion, which are enumerated and described geometrically; 28 of these structures are composed of sequences of circular arcs and straight lines; there is also a special structure called whirls consisting of different circular arcs. Our analysis identifies that the turns in the trajectory structures (aside from whirls) are all circular arcs of a particular turning radius, R′, the turning radius at which the inner wheels of a skid-steer rover are not commanded to turn. This work demonstrates its paramount importance in energy-optimal path planning. There has been a lack of analytical energy-optimal trajectory generation for skid-steer rovers, and we address this problem by a novel approach. The equivalency theorem presented in this work shows that all minimum-energy solutions follow the same path irrespective of velocity constraints that may or may not be imposed. This non-intuitive result stems from the fact that with this model of the system the total energy is fully parameterized by the geometry of the path alone. With this equivalency in mind, one can choose velocity constraints to enforce constant power consumption, thus transforming the energy-optimal problem into an equivalent time-optimal problem. Pontryagin’s Minimum Principle can then be used to solve the problem. Accordingly, the extremal paths are obtained and enumerated to find the minimum-energy path. Furthermore, our experimental results by using Husky UGV provide the experimental support for the equivalency theorem.

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“…The optimal control objectives in this article are time and energy minimization. 11,12 The summary of the above research shows two main areas for improvement. The first is the need to modify the feedback control.…”

Section: Introductionmentioning

confidence: 99%

Optimal control research on a manipulator’s combined feedback device by the variational method genetic algorithm radial basis function method

Wang

Zhaoyang

2019

International Journal of Advanced Robotic Systems

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This article aims to improve the accuracy of each joint in a manipulator and to ensure the high-speed and real-time requirements. A method called the variational method genetic algorithm radial basis function, which is based on a combination feedback controller, is proposed to solve the optimal control problem. It is proposed a combined feedback with a linear part and a nonlinear part. We reconstruct the manipulator's kinematics and dynamics models with a feedback control. In this model, the optimal trajectory, which was solved by the variation method, is regarded as the desired output. The other one is also established an improved genetic algorithm radial basis function neural network model. The optimal trajectory is rapidly solved by using the desired output and the improved genetic algorithm radial basis function neural network. This method can greatly improve the speed of the calculation and guarantee real-time performance while simultaneously ensuring accuracy.

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On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction

Cited by 8 publications

References 15 publications

A Priori Cost of the Energy to Perform Movement on a Predefined Path

A Priori Cost of the Energy to Perform Movement on a Predefined Path

Energy-optimal trajectories for skid-steer rovers

Optimal control research on a manipulator’s combined feedback device by the variational method genetic algorithm radial basis function method

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