Academic Journal
Generation of energy efficient trajectories for nims3d, a three-dimensional cabled robot
| العنوان: | Generation of energy efficient trajectories for nims3d, a three-dimensional cabled robot |
|---|---|
| المؤلفون: | Per Henrik Borgstrom, Nils Peter Borgstrom, Michael J. Stealey, Brett Jordan, Gaurav S. Sukhatme, Maxim A. Batalin, William J. Kaiser |
| المساهمون: | The Pennsylvania State University CiteSeerX Archives |
| المصدر: | http://cres.usc.edu/pubdb_html/files_upload/551.pdf. |
| سنة النشر: | 2008 |
| المجموعة: | CiteSeerX |
| الوصف: | — In this paper we describe an algorithm to generate energy efficient trajectories for NIMS3D, a three-dimensional cabled robotic platform. Optimized parabolic paths are used to exploit the relatively low I 2 R loss associated with operation in lower regions of the workspace. Trajectory optimization is sufficiently fast to enable real time operation. Experimental results on a physical system for a three cable deployment show substantial reductions in energy consumption as compared to linear trajectories. I. |
| نوع الوثيقة: | text |
| وصف الملف: | application/pdf |
| اللغة: | English |
| Relation: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.227.6150; http://cres.usc.edu/pubdb_html/files_upload/551.pdf |
| الاتاحة: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.227.6150 http://cres.usc.edu/pubdb_html/files_upload/551.pdf |
| Rights: | Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
| رقم الانضمام: | edsbas.3E250FA4 |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |