Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

Table 1

Performance parameters of drive devices and actuating devices of joints.

Joint of arm	/(V)	/(mN⋅m)
Joints 1 and 2	24	31.4	596	1.5	0.85
Joints 3 and 4	24	38	625	0.6	0.85
Joints 5 and 6	24	16	552	0.1	0.85