Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013) |
| Erscheinungsort | Takamatsu, Japan |
| Herausgeber (Verlag) | IEEE Computer Society |
| Seiten | 44-50 |
| Seitenumfang | 7 |
| ISBN (Print) | 9781467355582 |
| Publikationsstatus | Veröffentlicht - 2013 |
| Veranstaltung | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan Dauer: 4 Aug. 2013 → 7 Aug. 2013 |
Publikationsreihe
| Name | 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
|---|
Abstract
A new path planning approach for energy demand minimization of general multi axis robots by model-based trajectory optimization is presented. In the proposed method, the efficient utilization of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and drive losses, as well as the exchange of electrical energy. The nonlinear optimization problem is solved using global methods, considering kinematic and dynamic limitations. Simulations results are presented that prove the performance of the algorithm and demonstrate the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required and the approach is applicable to different multi axis manipulator types with no need for additional investment or hardware modification.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Maschinenbau
Ziele für nachhaltige Entwicklung
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- Apa
- Vancouver
- BibTex
- RIS
2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013). Takamatsu, Japan: IEEE Computer Society, 2013. S. 44-50 6617891 (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Path planning approach for the amplification of electrical energy exchange in multi axis robotic systems
AU - Hansen, Christian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2013
Y1 - 2013
N2 - A new path planning approach for energy demand minimization of general multi axis robots by model-based trajectory optimization is presented. In the proposed method, the efficient utilization of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and drive losses, as well as the exchange of electrical energy. The nonlinear optimization problem is solved using global methods, considering kinematic and dynamic limitations. Simulations results are presented that prove the performance of the algorithm and demonstrate the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required and the approach is applicable to different multi axis manipulator types with no need for additional investment or hardware modification.
AB - A new path planning approach for energy demand minimization of general multi axis robots by model-based trajectory optimization is presented. In the proposed method, the efficient utilization of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and drive losses, as well as the exchange of electrical energy. The nonlinear optimization problem is solved using global methods, considering kinematic and dynamic limitations. Simulations results are presented that prove the performance of the algorithm and demonstrate the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required and the approach is applicable to different multi axis manipulator types with no need for additional investment or hardware modification.
KW - Energy efficiency
KW - Industrial robotics
KW - Multi axis systems
KW - Trajectory optimization
UR - http://www.scopus.com/inward/record.url?scp=84907348285&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6617891
DO - 10.1109/ICMA.2013.6617891
M3 - Conference contribution
AN - SCOPUS:84907348285
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 44
EP - 50
BT - 2013 IEEE International Conference on Mechatronics and Automation (ICMA 2013)
PB - IEEE Computer Society
CY - Takamatsu, Japan
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -