High-Level Scheduling of Energy Optimal Trajectories
Artikel i vetenskaplig tidskrift, 2013

The reduction of energy consumption is today addressed with great effort in manufacturing industry. In this paper, we improve upon a previously presented method for robotic system scheduling. By applying dynamic programming to existing trajectories, we generate new energy optimal trajectories that follow the same path but in a different execution time frame. With this new method, it is possible to solve the optimization problem for a range of execution times for the individual operations, based on one simulation only. The minimum energy trajectories can then be used to derive a globally energy optimal schedule. A case study of a cell comprised of four six-link manipulators is presented, in which energy optimal dynamic time scaling is compared to linear time scaling. The results show that a significant decrease in energy consumption can be achieved for any given cycle time.


Optimization methods



Oskar Wigström

Signaler och system, System- och reglerteknik, Automation

Bengt Lennartson

Signaler och system, System- och reglerteknik, Automation

Alberto Vergnano

Universita degli Studi di Modena e Reggio Emilia

Claes Breitholtz

Signaler och system, System- och reglerteknik, Reglerteknik

IEEE Transactions on Automation Science and Engineering

1545-5955 (ISSN)

Vol. 10 57-64 6204092


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