Towards Energy Optimization using Trajectory Smoothing and Automatic Code Generation for Robotic Assembly
Paper i 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.

Robotics

Industrial Production

Optimal Control

Motion Planning

Författare

Daniel Gleeson

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

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Staffan C Björkenstam

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

R. Bohlin

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Johan Carlson

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Bengt Lennartson

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

Procedia CIRP

22128271 (ISSN)

Vol. 44 341-346

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

Ämneskategorier

Produktionsteknik, arbetsvetenskap och ergonomi

Robotteknik och automation

Styrkeområden

Produktion

DOI

10.1016/j.procir.2016.02.099

Mer information

Senast uppdaterat

2021-10-22