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Energy Optimization of Multi-robot Systems

Sarmad Riazi (Institutionen för signaler och system, Automation) ; Kristofer Bengtsson (Institutionen för signaler och system, Automation) ; Oskar Wigström (Institutionen för signaler och system, Automation) ; Emma Vidarsson (Institutionen för signaler och system) ; Bengt Lennartson (Institutionen för signaler och system, Automation)
11th IEEE International Conference on Automation Science and Engineering, CASE 2015, Gothenburg, Sweden, 24-28 August 2015 (2161-8070). p. 1345-1350. (2015)
[Konferensbidrag, refereegranskat]

This paper presents an optimization algorithm that has been able to save up to 45% of the energy consumption of an industrial multi-robot system. The tool Sequence Planner now includes these algorithms, focusing on minimizing energy consumption. The goal has been to reduce the energy consumption of individual robots and robots interacting in a work station, without changing the original paths or the total cycle time. The presented algorithms are based on an efficient and rapid nonlinear model for optimizing the sequences of operations and the motion trajectories. Smart simplification of the optimization problem together with innovative tools for logging data and executing the optimized trajectories on real robots has resulted in 18% to 45% saving of the energy consumption in the presented test scenarios.

Nyckelord: Acceleration, Energy consumption, Joints, Robot kinematics, Trajectory Optimization, nonlinear programming

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Denna post skapades 2015-10-20. Senast ändrad 2016-09-14.
CPL Pubid: 224490


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