Towards Energy Optimization using Trajectory Smoothing and Automatic Code Generation for Robotic Assembly
Paper in proceeding, 2016

In automated industrial production, the efficiency of robotic motions directly affects both the final throughput and the energy consumption. By simulating and optimizing robot trajectories, cycle times and energy consumption can be lowered, or redundant robots can be detected. Here a polynomial basis function trajectory parametrization is presented, which enables direct export to executable robot code, and reduces the number of variables in the optimization problem. The algorithm finds time-optimal trajectories, while including collision avoidance and fulfilling joint, velocity and acceleration limitations. Applied torques are used as an approximation of the energy consumption to analyse the smooth trajectories, and successful tests show potential reductions of 10% for a standard industrial robot stud welding station.


Industrial Production

Optimal Control

Motion Planning


Daniel Gleeson

Chalmers, Signals and Systems, Systems and control

Fraunhofer-Chalmers Centre

Staffan C Björkenstam

Fraunhofer-Chalmers Centre

R. Bohlin

Fraunhofer-Chalmers Centre

Johan Carlson

Fraunhofer-Chalmers Centre

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control

Procedia CIRP

22128271 (eISSN)

Vol. 44 341-346

6th CIRP Conference on Assembly Technologies and Systems, CATS 2016
Gothenburg, Sweden,

Subject Categories

Production Engineering, Human Work Science and Ergonomics


Areas of Advance




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