Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF) hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respec...

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Bibliographic Details
Main Authors: Jarmo Nurmi, Jouni Mattila
Format: Article
Language:English
Published: MDPI AG 2017-05-01
Series:Energies
Subjects:
hydraulic manipulator
redundancy resolution
energy optimisation
energy-optimal
global
dynamic programming
actuator limits
load-sensing system
constant-pressure system
mobile hydraulic valve
Online Access:http://www.mdpi.com/1996-1073/10/5/647

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http://www.mdpi.com/1996-1073/10/5/647

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