Control strategy of minimal energy consumption based on multi-joint robot
基于多关节机器人的能量最小消耗控制策略*

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.