Optimal Robot Speed Trajectory by Minimization of the Actuator Motor Electromechanical Losses

@article{Sergaki2002OptimalRS,
  title={Optimal Robot Speed Trajectory by Minimization of the Actuator Motor Electromechanical Losses},
  author={Eleftheria S. Sergaki and George S. Stavrakakis and Anastasios D. Pouliezos},
  journal={Journal of Intelligent and Robotic Systems},
  year={2002},
  volume={33},
  pages={187-207}
}
This paper considers the control problem of a robotic manipulator with separately excited dc motor drives as actuators. An innovative method is proposed which achieves robot speed-control requirements, with simultaneous minimization of total electromechanical losses, while the drives follow the desired speed profiles of the robot joints under various loads and random load disturbances. If there is no demand for a specific speed profile, the optimal speed trajectory is determined by minimizing… CONTINUE READING
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