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Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot

Per Henrik Borgstrom, Nils Peter Borgstrom, Michael J. Stealey, Brett Jordan, Gaurav S. Sukhatme, Maxim A. Batalin, William J. Kaiser
2008 2008 IEEE International Conference on Robotics and Automation  
In this paper we describe an algorithm to generate energy efficient trajectories for NIMS3D, a three-dimensional cabled robotic platform.  ...  Experimental results on a physical system for a three cable deployment show substantial reductions in energy consumption as compared to linear trajectories.  ...  ACTUATOR MODELING In order to enable improved energy efficiency in a cabled robotic system, it is important to generate a valid model for its actuator systems.  ... 
doi:10.1109/robot.2008.4543544 dblp:conf/icra/BorgstromBSJSBK08 fatcat:2bftuysixzdutj6mvwd5ku3kay