Energy Reduction of Robot Stations with Uncertainties
Doctoral thesis, 2022
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
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
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