Computationally efficient energy optimization of multiple robots
Paper i proceeding, 2017

This paper presents convex modeling techniques for the problem of optimal velocity control of multiple robots on given intersecting paths. The optimal control problem is formulated as a nonlinear program, which generates predictive state and control trajectories that avoid collisions among the robots and minimize a certain performance index, such as operation time, energy dissipation and actuator usage. Advantages and disadvantages of two modeling approaches are discussed, involving a variable change with square of velocity, or alternatively inverse of velocity. The performance of the two approaches is evaluated in a case study with an industrial robot.

Författare

Oskar Wigström

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

Nikolce Murgovski

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

Sarmad Riazi

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

Bengt Lennartson

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

Proc. 13th IEEE Conference on Automation Science and Engineering (CASE 2017)

2161-8089 (eISSN)

Styrkeområden

Informations- och kommunikationsteknik

Produktion

Ämneskategorier

Beräkningsmatematik

Robotteknik och automation

DOI

10.1109/COASE.2017.8256156