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Energy Efficient and Collision Free Motion of Industrial Robots using Optimal Control

Staffan Björkenstam ; Daniel Gleeson (Institutionen för signaler och system, Automation) ; Robert Bohlin ; Johan S Carlson (Institutionen för produkt- och produktionsutveckling, Produktutveckling) ; Bengt Lennartson (Institutionen för signaler och system, Automation)
Proc. 9th IEEE International Conference on Automation Science and Engineering (CASE 2013), Madison Wisconsin, August (2161-8070). (2013)
[Konferensbidrag, refereegranskat]

In a production plant for complex assembled products there could be up to several hundred of robots used for handling and joining operations. Thus, improvement in robot motions can have a huge impact on equipment utilization and energy consumption. These are two of the most important aspects of sustainability in a production system. Therefore, this paper presents an algorithm for generating efficient and collision free motion of industrial robots using path planning and direct transcription methods for numerical optimal control. As a measure of efficiency for moving between configurations we use a combination of the energy norm of the applied actuator torques and the cycle time. Velocity and torque limits are handled and modeled as hard constraints. However, more general problems can be solved by the same approach. Our novel algorithm solves the problem in three steps; (i) first a path planning algorithm calculates an initial collision free path, (ii) a convex optimal control problem is then formulated to follow this path, and finally (iii) a nonlinear optimal control problem is solved to iteratively improve the trajectory. The resulting trajectory is guaranteed to be collision free by restrictions in the configuration space based on a local sensitivity analysis. The algorithm has been successfully applied to several industrial cases demonstrating that the proposed method can be used effectively in practical applications.

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Denna post skapades 2013-08-11. Senast ändrad 2016-04-15.
CPL Pubid: 181005


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Institutioner (Chalmers)

Institutionen för signaler och system, Automation (2005-2017)
Institutionen för produkt- och produktionsutveckling, Produktutveckling (2005-2017)


Hållbar utveckling
Optimeringslära, systemteori

Chalmers infrastruktur

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