Efficient sequencing of industrial robots through optimal control
Paper i proceeding, 2014

In a production plant for complex assembled products there could be up to several hundred robots used for handling and joining operations. Thus, improvements in robot motion can have a huge impact on equipment utilization and energy consumption. By combining recent algorithms for collision free numerical optimal control and for optimal sequencing, we are able to cut down on energy consumption without sacrificing cycle time. The algorithm has been successfully applied to several industrial cases demonstrating that the proposed method can be used effectively in practical applications to find fast and energy efficient solutions.

Författare

Staffan C Björkenstam

Domenico Spensieri

Chalmers, Produkt- och produktionsutveckling, Produktutveckling

Johan Carlson

Chalmers, Produkt- och produktionsutveckling, Produktutveckling

Daniel Gleeson

Chalmers, Signaler och system, System- och reglerteknik, Automation

5th CIRP Conference on Assembly Technologies and Systems, November 13-14, 2014, Dresden, Germany

2212-8271 (ISSN)

Vol. 23 C 194-199

Ämneskategorier

Produktionsteknik, arbetsvetenskap och ergonomi

Beräkningsmatematik

Fysik

Diskret matematik

Styrkeområden

Produktion

DOI

10.1016/j.procir.2014.10.094

Mer information

Skapat

2017-10-07