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Energy-efficient trajectory planning for an industrial robot using a multi-objective optimisation approach
KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Production Systems.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-9694-0483
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0001-8679-8049
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an approach for energy-efficient trajectory planning of an industrial robot. A model that can be used to formulate the energy consumption of the robot with the kinematics constraints is developed. Given the trajectory in the Cartesian space, the septuple B-spline is applied in joint space trajectory planning to make the velocities, accelerations, and jerks bounded and continuous, with constraints on the initial and ending values. Then, energy-efficient optimisation problem with nonlinear constraints is discussed. Simulation results show that, the proposed approach is effective solution to trajectory planning, with ensuring a good energy improvement and fluent movement for the robot manipulators.

Place, publisher, year, edition, pages
2018. Vol. 25
Keywords [en]
Energy-efficient trajectory; industrial robot; nonlinear programming
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-252578OAI: oai:DiVA.org:kth-252578DiVA, id: diva2:1319535
Conference
8th Swedish Production Symposium, SPS 2018, 16-18 May 2018, Stockholm, Sweden
Note

QC 20190624

Available from: 2019-06-02 Created: 2019-06-02 Last updated: 2019-06-24Bibliographically approved

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Other links

https://www.sps2018.org/

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Liu, SichaoWang, YuquanWang, Xi VincentWang, Lihui

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