Optimal motion planning for energy efficient multi-axis applications

authored by

Christian Hansen, Jens Kotlarski, Tobias Ortmaier

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

Organisation(s)

Institute of Mechatronic Systems

Type

Article

Journal

International Journal of Mechatronics and Automation

Volume

4

Pages

147-160

No. of pages

14

ISSN

2045-1059

Publication date

01.01.2014

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

Artificial Intelligence, Computational Mechanics, Control and Systems Engineering, Electrical and Electronic Engineering, Industrial and Manufacturing Engineering, Computational Mathematics

Sustainable Development Goals

SDG 7 - Affordable and Clean Energy

Electronic version(s)

https://doi.org/10.1504/ijma.2014.064096 (Access: Closed)