Title: Classical and Modern Methods for Time-constrained Energy Optimal Motion - Application to a Badminton Robot
Authors: Wang, Xin ×
Stoev, Julian #
Pinte, Greg #
Swevers, Jan #
Issue Date: 2-Jul-2013
Publisher: Pergamon Press
Series Title: Mechatronics vol:23 issue:6 pages:669-676
Abstract: Two control approaches are presented to improve the energy efficiency of a robot which has to perform point-to-point
motions during a fixed time interval. One is called Proximate Energy Optimal Servo (PEOS) and the other is called
Energy-Optimal Model Predictive Control (EOMPC). The PEOS approach is based on the Proximate Time Optimal
Servo (PTOS) control algorithm whose parameters are optimized in order to achieve energy efficient behavior. The
EOMPC approach developed based on the Time-Optimal Model Predictive Control (TOMPC) approach achieves
energy optimal performance by minimizing the energy losses in the object function. The two developed approaches
are applied to a robot playing badminton and compared to two existing control approaches: the Proximate Time
Optimal Servo (PTOS) and the Time-OptimalModel Predictive Control (TOMPC). The robot is still able to intercept
most of the opponent shuttles on time, while a significant reduction of the energy consumption is demonstrated in
both cases.
ISSN: 0957-4158
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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