Energy Optimization of Multi-robot Systems
Paper in proceedings, 2015

This paper presents an optimization algorithm that has been able to save up to 45% of the energy consumption of an industrial multi-robot system. The tool Sequence Planner now includes these algorithms, focusing on minimizing energy consumption. The goal has been to reduce the energy consumption of individual robots and robots interacting in a work station, without changing the original paths or the total cycle time. The presented algorithms are based on an efficient and rapid nonlinear model for optimizing the sequences of operations and the motion trajectories. Smart simplification of the optimization problem together with innovative tools for logging data and executing the optimized trajectories on real robots has resulted in 18% to 45% saving of the energy consumption in the presented test scenarios.

Energy consumption

Acceleration

Robot kinematics

Joints

nonlinear programming

Trajectory Optimization

Author

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control, Automation

Kristofer Bengtsson

Chalmers, Signals and Systems, Systems and control, Automation

Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Emma Vidarsson

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

11th IEEE International Conference on Automation Science and Engineering, CASE 2015, Gothenburg, Sweden, 24-28 August 2015

2161-8089 (eISSN)

1345-1350

Subject Categories

Production Engineering, Human Work Science and Ergonomics

Robotics

Driving Forces

Sustainable development

Areas of Advance

Production

Energy

DOI

10.1109/CoASE.2015.7294285

ISBN

978-1-4673-8183-3

More information

Created

10/8/2017