DC motor energetics in redundant manipulators with application to walking robots

Dustyn P. Roberts, Joo Hyun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Understanding electrical energy consumption in a robotic system leads to the ability to minimize energy consumption for a given task. This is particularly important for mobile robots and redundant manipulators where extended operating times and non-optimized movement patterns lead to increased operating costs. However, current research shows conflicting formulas for predicting energy consumption in robotic joints driven by DC motors, specifically when negative work is involved. A breakdown of energy consumption for DC motors is introduced with respect to different operating states and phases of positive and negative work. Additionally, the energy consumption of a two degree of freedom manipulator is simulated and verified experimentally. The same task - lowering the manipulator from point a to b in a vertical line - is completed in both elbow up and elbow down configurations to illustrate the difference in energy consumption during a task that consists of mostly negative work. Finally, this energy expenditure equation is extended to a multi degree of freedom simulated humanoid robot to demonstrate validity and generality.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages927-934
Number of pages8
Volume4
EditionPARTS A AND B
DOIs
StatePublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Other

OtherASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

Fingerprint

Redundant Manipulator
Redundant manipulators
DC Motor
DC motors
Energy Consumption
Energy utilization
Robot
Robots
Manipulator
Manipulators
Robotics
Degree of freedom
Mobile Manipulator
Humanoid Robot
Robot Manipulator
Operating costs
Mobile Robot
Mobile robots
Breakdown
Vertical

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Roberts, D. P., & Kim, J. H. (2012). DC motor energetics in redundant manipulators with application to walking robots. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 (PARTS A AND B ed., Vol. 4, pp. 927-934) https://doi.org/10.1115/DETC2012-71365

DC motor energetics in redundant manipulators with application to walking robots. / Roberts, Dustyn P.; Kim, Joo Hyun.

ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. Vol. 4 PARTS A AND B. ed. 2012. p. 927-934.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Roberts, DP & Kim, JH 2012, DC motor energetics in redundant manipulators with application to walking robots. in ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B edn, vol. 4, pp. 927-934, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, Chicago, IL, United States, 8/12/12. https://doi.org/10.1115/DETC2012-71365
Roberts DP, Kim JH. DC motor energetics in redundant manipulators with application to walking robots. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. Vol. 4. 2012. p. 927-934 https://doi.org/10.1115/DETC2012-71365
Roberts, Dustyn P. ; Kim, Joo Hyun. / DC motor energetics in redundant manipulators with application to walking robots. ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. Vol. 4 PARTS A AND B. ed. 2012. pp. 927-934
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