Title :
Energy savings of a 2-DOF manipulator with redundant actuation
Author :
Giuk Lee ; Donghun Lee ; Jayil Jeong ; JongWon Kim
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
fDate :
May 31 2014-June 7 2014
Abstract :
This paper covers the energy-saving features of a robotics system by redundant actuation. By installing more actuators than the degrees of freedom, the actuating torques can be distributed This distribution can reduce the overall energy loss, which reduces the overall energy consumption. An experiment was conducted with a 2-DOF general manipulator and redundant actuated manipulator; these were made to follow a typical welding pathway used in an automotive factory. The results showed that the redundant manipulator saved up to 38% electrical energy for actuation compared to the general manipulator.
Keywords :
actuators; energy conservation; redundant manipulators; 2-DOF manipulator; automotive factory; degrees-of-freedom; electrical energy; energy consumption; energy savings; general manipulator; redundant actuation; redundant manipulator; robotics system; welding pathway; Actuators; Energy loss; Joints; Manipulator dynamics; Power demand; Torque;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907603
