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Optimal robot speed trajectory by minimization of the actuator motor electromechanical losses

Pouliezos Anastasios, Stavrakakis Georgios, Sergaki Eleftheria

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/6BEDEEF3-0D40-41C0-8FD0-A7D488091F2A-
Αναγνωριστικόhttps://doi.org/10.1023/A:1014643401778-
Γλώσσαen-
Μέγεθος20 pagesen
ΤίτλοςOptimal robot speed trajectory by minimization of the actuator motor electromechanical lossesen
ΔημιουργόςPouliezos Anastasiosen
ΔημιουργόςΠουλιεζος Αναστασιοςel
ΔημιουργόςStavrakakis Georgiosen
ΔημιουργόςΣταυρακακης Γεωργιοςel
ΔημιουργόςSergaki Eleftheriaen
ΔημιουργόςΣεργακη Ελευθεριαel
ΕκδότηςKluweren
ΠερίληψηThis paper considers the control problem of a robotic manipulator with separately excited dc motor drives as actuators. An innovative method is proposed which achieves robot speed-control requirements, with simultaneous minimization of total electromechanical losses, while the drives follow the desired speed profiles of the robot joints under various loads and random load disturbances. If there is no demand for a specific speed profile, the optimal speed trajectory is determined by minimizing an electromechanical losses criterion. Controllable energy losses, such as armature copper losses, armature iron losses, field copper losses, stray load losses, brush load losses, friction and windage losses, can be expressed proportionally to the squares of the armature and the field (exciting) currents, the angular velocity and the magnetic field flux. The controllable energy loss term is also included in the optimal control integral quadratic performance index, defined for the whole operation period. Thus the appropriate control signals required for following the desired trajectory by simultaneous energy loss minimization for the whole operation interval are achieved. Two case studies of optimal robot control with and without minimization of actuator energy losses are presented and compared, showing the energy savings that can be achieved by the proposed methodology.en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2015-10-18-
Ημερομηνία Δημοσίευσης2002-
Θεματική ΚατηγορίαRobot programmingen
Θεματική Κατηγορίαrobots programmingen
Θεματική Κατηγορίαrobot programmingen
Θεματική ΚατηγορίαKinematics of robotsen
Θεματική ΚατηγορίαRobot kinematicsen
Θεματική Κατηγορίαrobots kinematicsen
Θεματική Κατηγορίαkinematics of robotsen
Θεματική Κατηγορίαrobot kinematicsen
Βιβλιογραφική ΑναφοράE.S. Sergaki ,G.Stavrakakis ,A.D. Pouliezos," Optimal robot speed trajectory by minimization of the actuator motor electromechanical losses,"J. of Intel. and Robotic Systems ,vol.33 ,no.2 pp.187-207,2002. doi: 10.1023/A:1014643401778en

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