Object-oriented modeling of industrial manipulators with application to energy optimal trajectory scaling
Paper i proceeding, 2011

The development of safe, energy efficient mechatronic systems is currently changing standard paradigms in the design and control of industrial manipulators. In particular, most optimization strategies require the improvement or the substitution of different system components. On the other hand, from an industry point of view, it would be desirable to develop energy saving methods applicable also to established manufacturing systems being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for optimizing the energy consumption of serial manipulators for a given operation. An object-oriented modeling technique, based on bond graph, is used to derive the robot electromechanical dynamics. The system power flow is then highlighted and parameterized as a function of the total execution times. Finally, a case study is reported show- ing the possibility to reduce the operation energy consumption when allowed by scheduling or manufacturing constraints.

Författare

M. Pellicciari

Universita degli Studi di Modena e Reggio Emilia

Giovanni Berselli

Universita degli Studi di Modena e Reggio Emilia

F. Leali

Universita degli Studi di Modena e Reggio Emilia

Alberto Vergnano

Universita degli Studi di Modena e Reggio Emilia

Bengt Lennartson

Signaler och system, System- och reglerteknik, Automation

ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011; Washington, DC; United States; 28 August 2011 through 31 August 2011

Vol. 5 997-1006

Ämneskategorier

Elektroteknik och elektronik

DOI

10.1115/DETC2011-48390

ISBN

978-079185482-2