Energy and peak-power optimization of existing time-optimal robot trajectories
Paper i proceeding, 2016

This paper, as an outcome of the EU project AREUS, heralds an optimization procedure that reduces up to 30% of energy consumption and up to 60% of peak-power for the trajectories that were tested on a real industrial robot. We have evaluated a number of cost functions and examined our algorithm for a variety of scenarios such as varying cycle times and single/two-robot cases. The significance of our work is not only in the impressive savings, simplicity of implementation and preserving path and cycle time, but also in the effort made to carry out the optimization and experiments in as realistic conditions as possible.

Författare

Sarmad Riazi

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

Kristofer Bengtsson

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

R. Bischoff

KUKA Aktiengesellschaft

A. Aurnhammer

KUKA Aktiengesellschaft

Oskar Wigström

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

Bengt Lennartson

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

Proc. 12th IEEE Conference on Automation Science and Engineering (CASE 2016), Fort Worth, Texas, August

2161-8089 (eISSN)

321-327

Drivkrafter

Hållbar utveckling

Styrkeområden

Produktion

Ämneskategorier

Robotteknik och automation

DOI

10.1109/COASE.2016.7743423

ISBN

978-1-5090-2409-4

Mer information

Skapat

2017-10-08