Abstract

The manipulability of a robotic arm may be defined based on ease of motion in different directions or ease of applying force/torque. In this study, we use manipulability measures to investigate how the kinematics of robots can be employed to calculate the optimal power required to drive the actuation systems of their arms. We hypothesize that the isotropy measure is related to the power consumption of the robotic arm. In addition to theoretical aspects, we consider practical applications that can minimize power consumption in robotic systems. Since the method is simple to implement and has no assumption on the robot’s work environment or dependence on information on the main power supply, manipulability measures can be used as a tool to predict the power consumption of robotic manipulators.

Highlights

  • IntroductionMeasuring power consumption in robotic systems creates advantages such as increasing the working time of robots without changing the power supplied [1]

  • To optimize power consumption in robotic systems, it is of the utmost importance to identify quantifiable tools which control and minimize the amount of power required

  • In order to correlate the consumed energy of a fluid-power-driven manipulator to the required to concept, run thewerobotic manipulator in terms of variations in the robot’s manipulability define the existing manipulability ellipsoids: the manipulability velocity ellipsoid (MVE) and manipulability force ellipsoid (MFE)

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Summary

Introduction

Measuring power consumption in robotic systems creates advantages such as increasing the working time of robots without changing the power supplied [1]. We define quantitative tools related to the energy required to run a system These tools, the manipulability ellipsoids, help us to visualize how the manipulator configuration of a robot can contribute to its task execution. Mansouri et al [16] presented the concept of a power manipulability ellipsoid: a homogenous tensor defined in six dimensions that includes both translational and rotational components (only motion components of the robotic manipulator). This concept uses a hybrid presentation of the manipulability velocity and force ellipsoids to introduce a vectorial presentation of the power consumed by a robotic manipulator. Compared to Mansouri et al [16,17], our proposed power ellipsoid does not require complex evaluations and mainly focuses on the specification of the fluid-driven actuation system

Materials and Methods
Jacobian Matrix
Manipulability Ellipsoids power to the manipulability of the robot
Manipulability Measures
Power Consumption in Fluid-Power-Driven Robotic Arms
Power Ellipsoid (PE)
Mapping
Simulation Setup
Results
Simulationthe
Variation
Cross-Correlation Analysis
Discussion

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