Global energy-optimised redundancy resolution in hydraulic manipulators using dynamic programming

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• 作者：Jarmo Nurmi ; ^{jarmo.nurmi@tut.fi} ; Jouni Mattila ^{jouni.mattila@tut.fi}
• 关键词：Redundancy resolution ; Hydraulic manipulator ; Construction crane ; Energy optimisation ; Global optimisation ; Dynamic programming ; Joint limits ; Load-sensing system ; Constant-pressure system
• 刊名：Automation in Construction
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：73
• 期：Complete
• 页码：120-134
• 全文大小：1487 K
• 卷排序：73

文摘

Energy-optimised redundancy resolution at the hydraulic level is achieved. Global solution is obtained using the dynamic programming method. Joint limits are satisfied (joint ranges, joint velocity and joint acceleration). Efficacy demonstrated on a commercial construction crane model. Extendable to non-planar construction cranes.