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

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

2009-10-21

arxiv.org/abs/0910.4000v1

Transactions of the canadian society for mechanical engineering (2009) 1-19

Computer Science

Robotics

Scientific paper

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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