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Energy-Efficient Robot Configuration for Assembly
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Fellow ASME)ORCID iD: 0000-0002-6590-7514
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Fellow ASME)ORCID iD: 0000-0001-8679-8049
2017 (English)In: Journal of manufacturing science and engineering, ISSN 1087-1357, E-ISSN 1528-8935, Vol. 139, no 5, article id 051007Article in journal (Refereed) Published
Abstract [en]

Optimizing the energy consumption of robot movements has been one of the main focuses for most of today's robotic simulation software. This optimization is based on minimizing a robot's joint movements. In many cases, it does not take into consideration the dynamic features. Therefore, reducing energy consumption is still a challenging task and it involves studying the robot's kinematic and dynamic models together with application requirements. This research aims to minimize the robot energy consumption during assembly. Given a trajectory and based on the inverse kinematics and dynamics of a robot, a set of attainable configurations for the robot can be determined, perused by calculating the suitable forces and torques on the joints and links of the robot. The energy consumption is then calculated for each configuration and based on the assigned trajectory. The ones with the lowest energy consumption are selected. Given that the energyefficient robot configurations lead to reduced overall energy consumption, this approach becomes instrumental and can be embedded in energy-efficient robotic assembly.

Place, publisher, year, edition, pages
ASME Press, 2017. Vol. 139, no 5, article id 051007
Keywords [en]
Computer software, Energy utilization, Inverse kinematics, Kinematics, Robotic assembly, Robotics, Robots, Application requirements, Dynamic features, Energy efficient, Forces and torques, Kinematics and dynamics, Reducing energy consumption, Robot configurations, Robotic simulation
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-200846DOI: 10.1115/1.4034935ISI: 000399395000009Scopus ID: 2-s2.0-84995900489OAI: oai:DiVA.org:kth-200846DiVA, id: diva2:1071578
Note

QC 20170206

Available from: 2017-02-06 Created: 2017-02-03 Last updated: 2017-06-02Bibliographically approved
In thesis
1. Toward a Sustainable Human-Robot Collaborative Production Environment
Open this publication in new window or tab >>Toward a Sustainable Human-Robot Collaborative Production Environment
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This PhD study aimed to address the sustainability issues of the robotic systems from the environmental and social aspects. During the research, three approaches were developed: the first one an online programming-free model-driven system that utilises web-based distributed human-robot collaboration architecture to perform distant assembly operations. It uses a robot-mounted camera to capture the silhouettes of the components from different angles. Then the system analyses those silhouettes and constructs the corresponding 3D models.Using the 3D models together with the model of a robotic assembly cell, the system guides a distant human operator to assemble the real components in the actual robotic cell. To satisfy the safety aspect of the human-robot collaboration, a second approach has been developed for effective online collision avoidance in an augmented environment, where virtual three-dimensional (3D) models of robots and real images of human operators from depth cameras are used for monitoring and collision detection. A prototype system is developed and linked to industrial robot controllers for adaptive robot control, without the need of programming by the operators. The result of collision detection reveals four safety strategies: the system can alert an operator, stop a robot, move away the robot, or modify the robot’s trajectory away from an approaching operator. These strategies can be activated based on the operator’s location with respect to the robot. The case study of the research further discusses the possibility of implementing the developed method in realistic applications, for example, collaboration between robots and humans in an assembly line.To tackle the energy aspect of the sustainability for the human-robot production environment, a third approach has been developed which aims to minimise the robot energy consumption during assembly. Given a trajectory and based on the inverse kinematics and dynamics of a robot, a set of attainable configurations for the robot can be determined, perused by calculating the suitable forces and torques on the joints and links of the robot. The energy consumption is then calculated for each configuration and based on the assigned trajectory. The ones with the lowest energy consumption are selected.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2017. p. 98
Series
TRITA-IIP, ISSN 1650-1888 ; 17-01
Keywords
vision sensor, 3D image processing, collision detection, safety, robot, kinematics, dynamics, collaborative assembly, energy consumption, optimisation, manufacturing
National Category
Engineering and Technology
Research subject
Production Engineering
Identifiers
urn:nbn:se:kth:diva-202388 (URN)978-91-7729-301-9 (ISBN)
Public defence
2017-03-24, M311, Brinellvägen 68, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20170223

Available from: 2017-02-23 Created: 2017-02-22 Last updated: 2017-02-23Bibliographically approved

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