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

Author

Listed:
  • Jarmo Nurmi

    (Laboratory of Automation and Hydraulic Engineering, Tampere University of Technology, P.O. Box 589 (Korkeakoulunkatu 6), FIN-33101 Tampere, Finland)

  • Jouni Mattila

    (Laboratory of Automation and Hydraulic Engineering, Tampere University of Technology, P.O. Box 589 (Korkeakoulunkatu 6), FIN-33101 Tampere, Finland)

Abstract

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 respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS) and constant-pressure (CP) systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP) approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

Suggested Citation

  • Jarmo Nurmi & Jouni Mattila, 2017. "Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator," Energies, MDPI, vol. 10(5), pages 1-31, May.
    • Handle: RePEc:gam:jeners:v:10:y:2017:i:5:p:647-:d:97781
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    Citations

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    Cited by:

    1. Andrea Vacca, 2018. "Energy Efficiency and Controllability of Fluid Power Systems," Energies, MDPI, vol. 11(5), pages 1-6, May.
    2. Ryo Arai & Satoru Sakai & Akihiro Tatsuoka & Qin Zhang, 2021. "Analytical, Experimental, and Numerical Investigation of Energy in Hydraulic Cylinder Dynamics of Agriculture Scale Excavators," Energies, MDPI, vol. 14(19), pages 1-20, September.
    3. Marian Janusz Łopatka & Karol Cieślik & Piotr Krogul & Tomasz Muszyński & Mirosław Przybysz & Arkadiusz Rubiec & Kacper Spadło, 2023. "Research on Terrain Mobility of UGV with Hydrostatic Wheel Drive and Slip Control Systems," Energies, MDPI, vol. 16(19), pages 1-22, October.

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