基于最小流量的液压机械臂冗余分解

丁孺琦,李望笃,李刚,胡国良

Redundancy resolution of hydraulic manipulators based on minimum-flow

Ru-qi DING,Wang-du LI,Gang LI,Guo-liang HU

表 2 不同轨迹理论计算与试验验证能耗对比

Tab.2 Comparison of energy consumption in different trajectory theory calculations and experimental verification

算法 Ec,t Ec,e 理论 试验 理论 试验 MF 10.17 11.39 15.76 16.84 MAVN 11.17 12.00 16.65 17.74 GP 11.21 12.04 16.68 17.78 平均节能 7.2% 5.1% 7.4% 5.3%