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

Raza Ur-Rehman (1) , Stéphane Caro (1) , Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Parallel manipulators; Path placement; Energy consumption; Optimization; Parallel manipulators.

Domaines: Robotique [cs.RO]

Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis. Transactions of the Canadian Society for Mechanical Engineering, 2009, pp.1-19. ⟨hal-00425337⟩