Fig. 11From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristicsVelocity selection according to \(k_{\mathrm{v}}\). a Velocity profiles under \(S_{\mathrm{f}}=0.5\) m, \(t_{\mathrm{f}}=6.94\) s, and \(k_{\mathrm{v}}=2\), b velocity profiles under the required \(S_{\mathrm{f}}=1\) m and \(t_{\mathrm{f}}=1\) s that means \(k_{\mathrm{v}}<1\), thus, the recalculated time \(t_{\mathrm{f}}=7.33\) s and \(t_1=1.16\) sBack to article page