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Towards Integrated OR/CP Energy Optimization for Robot Cells

Oskar Wigström (Institutionen för signaler och system, Automation) ; Bengt Lennartson (Institutionen för signaler och system, Automation)
IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31 - 7 June 2014 (1050-4729). p. 1674-1680. (2014)
[Konferensbidrag, refereegranskat]

This paper concerns the energy optimization of systems with interacting robots. Pseudo spectral optimal control is used to collocate the continuous time dynamics of each robot. The resulting model is a multi stage, multi robot, trajectory planning problem with timing constraints. In the case of a given task sequence, the mathematical formulation is that of a Nonlinear Programming problem. We present two example problems where three 3-DoF robots work together. For the case the problem consists of undetermined sequences, we outline an algorithm which integrates Operations Research methods with those of Constraint Programming.


Article number 6907076



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Denna post skapades 2015-03-03. Senast ändrad 2016-05-23.
CPL Pubid: 213363

 

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