Details
| Original language | English |
|---|---|
| Pages (from-to) | 147-160 |
| Number of pages | 14 |
| Journal | International Journal of Mechatronics and Automation |
| Volume | 4 |
| Issue number | 3 |
| Publication status | Published - 1 Jan 2014 |
Abstract
In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation 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 servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification. Copyright
Keywords
- Automation, Cartesian robot, DC bus energy exchange, Energy efficiency, Energy losses, Global optimisation, Industrial robotics, Mechatronics, Minimum-time trajectory, Motion planning, Multi-axis systems, Path planning, Trajectory optimisation
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Computational Mechanics
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
- Mathematics(all)
- Computational Mathematics
Sustainable Development Goals
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In: International Journal of Mechatronics and Automation, Vol. 4, No. 3, 01.01.2014, p. 147-160.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Optimal motion planning for energy efficient multi-axis applications
AU - Hansen, Christian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2014/1/1
Y1 - 2014/1/1
N2 - In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation 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 servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification. Copyright
AB - In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation 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 servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification. Copyright
KW - Automation
KW - Cartesian robot
KW - DC bus energy exchange
KW - Energy efficiency
KW - Energy losses
KW - Global optimisation
KW - Industrial robotics
KW - Mechatronics
KW - Minimum-time trajectory
KW - Motion planning
KW - Multi-axis systems
KW - Path planning
KW - Trajectory optimisation
UR - http://www.scopus.com/inward/record.url?scp=84907012332&partnerID=8YFLogxK
U2 - 10.1504/ijma.2014.064096
DO - 10.1504/ijma.2014.064096
M3 - Article
AN - SCOPUS:84907012332
VL - 4
SP - 147
EP - 160
JO - International Journal of Mechatronics and Automation
JF - International Journal of Mechatronics and Automation
SN - 2045-1059
IS - 3
ER -