Energy savings of a 2-DOF manipulator with redundant actuation


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… (More)
DOI: 10.1109/ICRA.2014.6907603


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