In this paper, we investigate energy-optimal control of robots with ultracapacitor-based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control problem is formulated to find point-to point trajectories maximizing the amount of energy regenerated and stored in the capacitor. The optimization problem, its numerical solution, and an experimental evaluation are demonstrated using a PUMA manipulator with custom regenerative drives. Power flows, stored regenerative energy, and efficiency are evaluated. Tracking of optimal trajectories is enforced on the robot using a standard robust passivity based control approach. Experimental results show that when following optimal trajectories, a reduction of about $\text{10}\text{--}\text{22}\%$ in energy consumption can be achieved for the conditions of the study, relative to the nonregenerative case.

中文翻译：

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具有再生驱动系统的机器人轨迹优化：数值和实验结果

在本文中，我们研究了具有基于超级电容器的再生驱动系统的机器人的能量优化控制。基于之前介绍的框架，考虑了机器人和驱动系统的相当通用的模型。优化控制问题被公式化，以找到点对点轨迹，最大限度地再生和存储在电容器中的能量。使用带有定制再生驱动器的 PUMA 机械手演示了优化问题、其数值解决方案和实验评估。评估功率流、存储的再生能量和效率。使用基于标准的鲁棒被动控制方法在机器人上强制跟踪最佳轨迹。实验结果表明，当遵循最优轨迹时，