Towards Integrated OR/CP Energy Optimization for Robot Cells
Paper in proceedings, 2014

This paper concerns the energy optimization of systems with interacting robots. Pseudo spectral optimal control is used to collocate the continuous time dynamics of each robot. The resulting model is a multi stage, multi robot, trajectory planning problem with timing constraints. In the case of a given task sequence, the mathematical formulation is that of a Nonlinear Programming problem. We present two example problems where three 3-DoF robots work together. For the case the problem consists of undetermined sequences, we outline an algorithm which integrates Operations Research methods with those of Constraint Programming.


Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31 - 7 June 2014

1050-4729 (ISSN)


Areas of Advance

Information and Communication Technology


Subject Categories


Control Engineering



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