Details
| Original language | English |
|---|---|
| Title of host publication | 2012 IEEE International Conference on Automation Science and Engineering |
| Subtitle of host publication | Green Automation Toward a Sustainable Society, CASE 2012 |
| Pages | 1-7 |
| Number of pages | 7 |
| Publication status | Published - 2012 |
| Event | 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of Duration: 20 Aug 2012 → 24 Aug 2012 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
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.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
Sustainable Development Goals
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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. 2012. p. 1-7 6386343 (IEEE International Conference on Automation Science and Engineering).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Enhanced approach for energy-efficient trajectory generation of industrial robots
AU - Hansen, Christian
AU - Öltjen, Julian
AU - Meike, Davis
AU - Ortmaier, Tobias
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872574286&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2012.6386343
DO - 10.1109/CoASE.2012.6386343
M3 - Conference contribution
AN - SCOPUS:84872574286
SN - 9781467304283
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1
EP - 7
BT - 2012 IEEE International Conference on Automation Science and Engineering
T2 - 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Y2 - 20 August 2012 through 24 August 2012
ER -