Please use this identifier to cite or link to this item: http://dx.doi.org/10.14279/depositonce-7020
Main Title: Quasi-linearization approach for the under-actuated robots
Author(s): Albalasie, Ahmad
Glodde, Arne
Seliger, Günther
Abu Hanieh, Ahmed
Type: Article
Language Code: en
Abstract: A novel technique to reduce energy consumption for industrial robots by using redundancy and under-actuated configurations is introduced in this paper. The study concentrates on kinematics including a passive axis which causes a highly nonlinear coupling of the Coriolis and centrifugal forces and high inertia coupling. The challenge of meeting the requirements of position accuracy, precision, and repeatability combined with the requirements for the speed, acceleration, and torque is coped with by solving a sequence of linear two point boundary value problems for controlling the movement of the end effector between two points. The advantages of this method are the ability of reducing the computation time dramatically, computer storage, and linearizing the nonlinear model. Furthermore the optimal trajectories are identified with minimizing energy consumption and enabling high speed capability. Numerical simulations are conducted to validate the theoretical analysis.
URI: https://depositonce.tu-berlin.de//handle/11303/7860
http://dx.doi.org/10.14279/depositonce-7020
Issue Date: 2015
Date Available: 28-May-2018
DDC Class: 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): under-actuated motion
robots
control
optimization
quasi-linearization
trajectories planning
License: https://creativecommons.org/licenses/by-nc-nd/4.0/
Journal Title: Procedia CIRP
Publisher: Elsevier
Publisher Place: Amsterdam
Volume: 26
Publisher DOI: 10.1016/j.procir.2014.07.168
Page Start: 223
Page End: 228
ISSN: 2212-8271
Appears in Collections:FG Montagetechnik und Fabrikbetrieb » Publications

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