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

Jarmo Nurmi and Jouni Mattila
Additional contact information
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

Energies, 2017, vol. 10, issue 5, 1-31

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.

Keywords: hydraulic manipulator; redundancy resolution; energy optimisation; energy-optimal; global; dynamic programming; actuator limits; load-sensing system; constant-pressure system; mobile hydraulic valve (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2017
References: View complete reference list from CitEc
Citations: View citations in EconPapers (3)

Downloads: (external link)
https://www.mdpi.com/1996-1073/10/5/647/pdf (application/pdf)
https://www.mdpi.com/1996-1073/10/5/647/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:10:y:2017:i:5:p:647-:d:97781

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().