Enhanced approach for energy-efficient trajectory generation of industrial robots

verfasst von

Christian Hansen, Julian Öltjen, Davis Meike, Tobias Ortmaier

Abstract

This paper proposes a novel cost function formulation for minimization of the energy consumption of industrial robots by trajectory optimization. Besides the dynamics of the robot including friction losses, the model especially takes into account the losses of servo drives and inverters. Furthermore, the ability of energy exchange between the robot axes via the coupled DC-bus is included, since the servo drives support generator mode during deceleration. The utilized energy-based robot model is applicable to different manipulator types. For the energy-efficient motion planning, point-to-point trajectories are defined by B-spline functions. The given nonlinear optimization problem is solved using gradient-based methods, considering kinematic and dynamic constraints. Several simulation results are presented, demonstrating the intense effect of energy exchange in the robot controller's power electronics. Furthermore, a comparative study is given showing that the proposed method is able to outperform existing torque-based approaches.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

Mercedes-Benz Group AG

Typ

Aufsatz in Konferenzband

Seiten

1-7

Anzahl der Seiten

7

Publikationsdatum

2012

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Elektrotechnik und Elektronik

Ziele für nachhaltige Entwicklung

SDG 7 – Erschwingliche und saubere Energie

Elektronische Version(en)

https://doi.org/10.1109/CoASE.2012.6386343 (Zugang: Unbekannt)