High-Level Scheduling of Energy Optimal Trajectories
Journal article, 2013

The reduction of energy consumption is today addressed with great effort in manufacturing industry. In this paper, we improve upon a previously presented method for robotic system scheduling. By applying dynamic programming to existing trajectories, we generate new energy optimal trajectories that follow the same path but in a different execution time frame. With this new method, it is possible to solve the optimization problem for a range of execution times for the individual operations, based on one simulation only. The minimum energy trajectories can then be used to derive a globally energy optimal schedule. A case study of a cell comprised of four six-link manipulators is presented, in which energy optimal dynamic time scaling is compared to linear time scaling. The results show that a significant decrease in energy consumption can be achieved for any given cycle time.



Optimization methods


Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Alberto Vergnano

Universita Degli Studi Di Modena E Reggio Emilia

Claes Breitholtz

Chalmers, Signals and Systems, Systems and control, Automatic Control

IEEE Transactions on Automation Science and Engineering

1545-5955 (ISSN)

Vol. 10 1 57-64 6204092

Driving Forces

Sustainable development

Areas of Advance


Subject Categories

Computational Mathematics



More information

Latest update

9/6/2018 1