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

Research paper by Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger

Indexed on: 21 Oct '09Published on: 21 Oct '09Published in: Computer Science - Robotics



Abstract

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.