Energy Reduction of Robot Stations with Uncertainties
Doctoral thesis, 2022

This thesis aims to present a practical approach to reducing the energy use of industrial robot stations. The starting point of this work is different types of robot stations and production systems found in the automotive industry, such as welding stations and human-robot collaborative stations, and the aim is to find and verify methods of reducing the energy use in such systems. Practical challenges with this include limited information about the systems, such as energy models of the robots; limited access to the stations, which complicates experiment and data collection; limitations in the robot control system; and a general reluctance by companies to make drastic changes to already tested and approved production systems. Another practical constraint is to reduce energy use without slowing down production. This is especially challenging when a robot station contains stochastic variations, which is the case in many practical applications.

Motivated by these challenges, this thesis presents an offline method of reducing the energy use of a production line of welding stations in an automotive factory. The robot stations contain stochastic uncertainties in the form of variations in the robot execution times, and the energy use is reduced by limiting the robot velocities. The method involves collecting data, modeling the system, formulating and solving a nonlinear and stochastic optimization problem, and applying the results to the real robot station. Tests on real stations show that, with only small modifications, the energy use can be reduced significantly, up to 24 percent.

The thesis also contains an online method of controlling a collaborative human-robot bin picking station in a robust and energy-optimal way. The problem is partly a scheduling problem to determine in which orders the operations should be executed, and a timing problem to determine the velocities of the robots. A particular challenge is that some model parameters are unknown and have to be estimated online. A multi-layered control algorithm is presented that continuously updates the operation order and tunes the robot velocities as new orders arrive in the system. Simultaneously, a reinforcement learning algorithm is used to update estimates of the unknown parameters to be used in the optimization algorithms.

Robot station

Stochastic uncertainties

Energy optimization

Industrial robot

Vasa C, Vasa Hus 3, Vera Sandbergs Allé 8
Opponent: Prof. Giovanni Berselli, Mechanical Engineering & Robot Design, University of Genoa, Italy

Author

[Person 0111579d-2d0b-4657-9c66-84e1d63f9ef1 not found]

Chalmers, Electrical Engineering, Systems and control

Applied energy optimization of multi-robot systems through motion parameter tuning

CIRP Journal of Manufacturing Science and Technology,;Vol. 35(2021)p. 422-430

Journal article

Energy reduction of stochastic time-constrained robot stations

Robotics and Computer-Integrated Manufacturing,;Vol. 81(2023)

Journal article

Energy-Optimal Timing of Stochastic Robot Stations in Automotive Production Lines

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA,;Vol. 2022-September(2022)

Paper in proceeding

Online Energy-Optimal Timing of Stochastic Robot Stations

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA,;Vol. 2021-September(2021)

Paper in proceeding

Energy-Optimal Timing of Robot Stations Subject to Gaussian Disturbances

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA,;Vol. 2019-September(2019)p. 1441-1444

Paper in proceeding

With increasing energy prices and the threat of global warming, many industries strive to reduce the energy used by their robotic and automation systems. The starting point of this thesis was real examples of different types of robot stations and production systems found in the automotive industry. They have been modeled and practical obstacles to reducing their energy use have been identified. The obstacles are limited information about the system, such as energy models of the robots; limited access to the stations, which complicates experiment and data collection; limitations in the robot control system; and a general reluctance by companies to make drastic changes to the already tested and approved production systems. Another practical constraint is to reduce energy use without slowing down production, which is a criterion that is often prioritized over energy in the industry today. This is especially challenging when robot stations contain uncertainties, which is the case for many practical applications. Examples are variations in the execution times of operations, machine breakdowns, or irregular arrivals of production orders.

Given these challenges, this thesis presents methods that are capable of reducing the energy use of industrial robot stations, taking these challenges into account. The methods do not require too much information about the system, are simple enough to be implemented in practice, and ensure that the production is not slowed down. The methods have been verified on real robot stations. Experiments on robot stations that are part of a production line in an automotive factory showed that the energy use could be reduced by more than 20\%. This could be achieved with only minimal effort and had the additional benefit of reducing the peak power of the station. Another experiment was conducted on a flexible robot station, with randomly arriving orders and unknown model parameters. Results showed that the method was capable of controlling the system in a way that all orders were completed in time, while simultaneously learning the unknown model parameters.

ITEA3, Smart Prognos av Energianvändning med resursfördelning, SPEAR

VINNOVA (2017-02270), 2017-10-17 -- 2020-09-30.

Sustainable motions - SmoothIT

VINNOVA (2017-03078), 2017-10-09 -- 2020-10-30.

Driving Forces

Sustainable development

Areas of Advance

Production

Subject Categories

Robotics

ISBN

978-91-7905-719-0

Doktorsavhandlingar vid Chalmers tekniska högskola. Ny serie: 5185

Publisher

Chalmers

Vasa C, Vasa Hus 3, Vera Sandbergs Allé 8

Opponent: Prof. Giovanni Berselli, Mechanical Engineering & Robot Design, University of Genoa, Italy

More information

Latest update

11/9/2023