Abstract
A performance criterion for saving energy is defined in consideration of energy consumption of driving source. It is necessary for saving energy of direct-drive manipulator to make the mechanism lighter. In this paper, equations of motion of a closed-type manipulator, whose mechanism can easily be made lighter, are derived in consideration of characteristics of the DC servomotors. When the manipulator is operated in a vertical plane, the system is highly non-linear due to gravity and an analytical solution can not be found. Then, a numerical approach is necessary. Considering the final condition about angular displacement and angular velocity, trajectories of velocity for saving energy are calculated by iterative dynamic programming. Initial searching region of dynamic programming is a shape which is surrounded by two sine-wave translated in parallel. This proposed searching region is used as a initial range of the iteration method, and the region is shifted along the axis of coordinate of angular displacement to minimize the energy consumption of the motor. The dynamic characteristics of manipulator controlled based on above mentioned trajectory are analyzed theoretically and investigated experimentally.
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