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Robotics and Biomimetics

Table 2 Summary of total input energy

From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics

S f (m)

t f (s)

I: \(\int _0^{{t_{\mathrm{f}}}} {{V_{\mathrm{a}}}{i_{\mathrm{a}}}} \mathrm{d}t\)

II: \(\int _0^{{t_{\mathrm{f}}}} {{i_{\mathrm{a}}}^2{R_{\mathrm{a}}}} \mathrm{d}t\)

III: \(\int _0^{{t_{\mathrm{f}}}} {{V_{\mathrm{a}}}{i_{\mathrm{a}}}} \mathrm{d}t\)

0.3 m

4

14.79 (14.02)

14.37

15.65

1.2 m

10

76.09 (71.46)

75.28

85.53

2.0 m

15

134.91 (126.50)

132.83

155.18

Figure 8b

 

3.10

3.31

14.12

Figure 11a

 

23.30 (19.70)

21.65

23.91

Figure 11b

 

83.82

N/A

86.40

  1. I refers to the minimum energy control that considers \(R_{\mathrm{a}}\) and \(R_{\mathrm{h}}\), while the numbers in the bracket denote the results that \(R_{\mathrm{h}} \rightarrow \infty\); II refers to the loss minimization control that only considers \(R_{\mathrm{a}}\); III refers to the computed torque control that considers \(R_{\mathrm{a}}\) and \(R_{\mathrm{h}}\)
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