Fig. 10From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristicsResults of the total energy consumption. a Results considering \(R_{\mathrm{a}}\) and \(R_{\mathrm{h}}\), b results of \(R_{\mathrm{h}} \rightarrow \infty\) (only considering \(R_{\mathrm{a}}\))Back to article page