Efficient sequencing of industrial robots through optimal control
Paper in proceeding, 2014

In a production plant for complex assembled products there could be up to several hundred robots used for handling and joining operations. Thus, improvements in robot motion can have a huge impact on equipment utilization and energy consumption. By combining recent algorithms for collision free numerical optimal control and for optimal sequencing, we are able to cut down on energy consumption without sacrificing cycle time. The algorithm has been successfully applied to several industrial cases demonstrating that the proposed method can be used effectively in practical applications to find fast and energy efficient solutions.


Staffan C Björkenstam

Fraunhofer-Chalmers Centre

Domenico Spensieri

Fraunhofer-Chalmers Centre

Johan Carlson

Fraunhofer-Chalmers Centre

Robert Bohlin

Fraunhofer-Chalmers Centre

Daniel Gleeson

Fraunhofer-Chalmers Centre

5th CIRP Conference on Assembly Technologies and Systems, November 13-14, 2014, Dresden, Germany

2212-8271 (ISSN)

Vol. 23 C 194-199

Subject Categories

Production Engineering, Human Work Science and Ergonomics

Computational Mathematics

Physical Sciences

Discrete Mathematics

Areas of Advance




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