Online Energy-Optimal Timing of Stochastic Robot Stations
Paper in proceeding, 2021

This paper investigates the problem of reducing the energy use of the movements of robots in industrial robot stations that have variations in execution times. An online method is presented that repeatedly solves an optimization problem during the execution of the station, that tries to minimize the energy use by finding the optimal execution times of the robot movements while at the same ensuring that the deadline of the station is met with a high enough probability. The method involves reformulating the original optimization problem, which is stochastic and nonlinear, into a convex version that can be solved efficiently. The method is tested on a simulated robot station and the result shows that the method is fast enough to be useable online and reduces the energy use of the station.

industrial robots

optimization metods

Author

Mattias Hovgard

Chalmers, Electrical Engineering, Systems and control

Bengt Lennartson

Chalmers, Electrical Engineering, Systems and control

Kristofer Bengtsson

Chalmers, Electrical Engineering, Systems and control

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

19460740 (ISSN) 19460759 (eISSN)

Vol. 2021-September
9781728129891 (ISBN)

26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
Virtual, Vasteras, Sweden,

Subject Categories

Computational Mathematics

Robotics

Control Engineering

DOI

10.1109/ETFA45728.2021.9613383

More information

Latest update

1/25/2022