Energy and Peak Power Optimization of Time-Bounded Robot Trajectories
Journal article, 2017

This paper, as an outcome of the EU project AREUS, heralds an optimization procedure that reduces up to 30% of energy consumption and up to 60% in peak power for the trajectories that have been tested on real industrial robots. We have evaluated a number of cost functions and tested our algorithm for a variety of scenarios such as varying cycle times, payloads, and single/multirobot cases in both ac- and dc-operated robot cells. The significance of our work is not only in the impressive savings, simplicity of implementation, and preserving path and cycle time, but also in the variety of test scenarios that include different kinds of KUKA robots. We have carried out the optimization and experiments in as realistic conditions as possible.

nonlinear programming

industrial robotics

Energy optimization

Author

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control, Automation

Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Kristofer Bengtsson

Chalmers, Signals and Systems, Systems and control, Automation

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

IEEE Transactions on Automation Science and Engineering

1545-5955 (ISSN)

Vol. 14 2 646-657 7831386

Areas of Advance

Information and Communication Technology

Production

Subject Categories

Robotics

DOI

10.1109/TASE.2016.2641743

More information

Created

10/7/2017