%0 Journal Article
%T Control strategy of minimal energy consumption based on multi-joint robot<br>基于多关节机器人的能量最小消耗控制策略*
%A DANG Pei
%A TAN Yun-fu
%A SHEN Li-min
%A <br>党培
%A 谭云福
%A 申利民
%J 计算机应用研究
%D 2010
%I 
%X In order to extend robot run time in the situation that limited energy supply, bearing the energy consumption problem of the robots in mind, this paper proposed a new idea that through improving ACC/DEC algorithm to realize the minimum energy consumption. First, studied on joints coordinated control and energy consumption of multi-joint robot, according to the relation between the velocity curve of ACC/DEC algorithm and the energy dissipation of the servo motor, derived the energy dissipation function under this algorithm. Then obtained the optimal time parameter by solving the minimum of the energy dissipation function of ACC/DEC algorithm, and set time of the servo motor at various motion stages using this time parameter, reduced the energy dissipation of the servo motor and minimized the energy consumption of the robot. Finally, the experiment and analysis prove the effectiveness of the control strategy.
%K multi-joint robot
%K joints harmonious control
%K minimum energy consumption
%K trapezoidal acceleration/deceleration (ACC/DEC) algorithm<br>多关节机器人
%K 关节协调控制
%K 最小能量消耗
%K 梯形升降速算法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=8508E22DE6005839F0EE19DDE0179CD5&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=59906B3B2830C2C5&sid=785BB3C38D360CDE&eid=04793F78B243B054&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=9