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High-Level Scheduling of Energy Optimal Trajectories

Oskar Wigström (Institutionen för signaler och system, Automation) ; Bengt Lennartson (Institutionen för signaler och system, Automation) ; Alberto Vergnano ; Claes Breitholtz (Institutionen för signaler och system, Reglerteknik)
IEEE Transactions on Automation Science and Engineering (1545-5955). Vol. 10 (2013), 1, p. 57-64.
[Artikel, refereegranskad vetenskaplig]

The reduction of energy consumption is today addressed with great effort in manufacturing industry. In this paper, we improve upon a previously presented method for robotic system scheduling. By applying dynamic programming to existing trajectories, we generate new energy optimal trajectories that follow the same path but in a different execution time frame. With this new method, it is possible to solve the optimization problem for a range of execution times for the individual operations, based on one simulation only. The minimum energy trajectories can then be used to derive a globally energy optimal schedule. A case study of a cell comprised of four six-link manipulators is presented, in which energy optimal dynamic time scaling is compared to linear time scaling. The results show that a significant decrease in energy consumption can be achieved for any given cycle time.

Nyckelord: Optimization methods, scheduling, trajectory



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Denna post skapades 2013-01-03. Senast ändrad 2013-05-07.
CPL Pubid: 169009

 

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