Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis

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Date

21 octobre 2009

Type de document
Périmètre
Identifiants
  • handle:  10670/1.hlxfr4
  • Transactions of the canadian society for mechanical engineering (2009) 1-19
Source

arXiv

Collection

arXiv

Organisation

Cornell University


Mots-clés

Computer Science - Robotics


Citer ce document

Raza Ur-Rehman et al., « Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis », arXiv, ID : 10670/1.hlxfr4


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Résumé 0

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide~3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.

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