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Minimising Energy Consumption for Robot Arm Movement
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
KTH, School of Industrial Engineering and Management (ITM), Production Engineering. (Sustainable Manufacturing)ORCID iD: 0000-0001-8679-8049
2014 (English)Conference paper (Refereed)
Abstract [en]

Robots are widely used in industry due to their efficiency and high performance. Many of them are operating in the manufacturing stage of the production line where the highest percentage of energy is consumed. Therefore, their energy consumption became a major focus for many robots manufacturers and academic research groups. Nevertheless, the optimisation of that consumption is still a challenging task which requires a deep understanding of the robot’s kinematic and dynamic behaviours. This paper proposes an approach to develop an optimisation module using Matlab® to minimise the energy consumptions of the robot’s movement. With the help of Denavit-Hartenberg notation, the approach starts first by solving the inverse kinematics of the robot to find a set of feasible joint configurations required to perform the task, solving the inverse kinematics is usually a challenging step which requires in-depth analyses of the robot. The module then solves the inverse dynamics of the robot to analyse the forces and torques applied on each joint and link in the robot. Furthermore, a calculation for the energy consumption is performed for each configuration. The final step of the process represents the optimisation of the calculated configurations by choosing the one with the lowest power consumption and sends the results to the robot controller. Three case studies are used to evaluate the performance of the module. The experimental results demonstrate the developed module as a successful tool for energy efficient robot path planning. Further analyses for the results have been done by comparing them with the ones from commercial simulation software. The case studies show that the optimisation of the location for the target path could reduce the energy consumption effectively.

Place, publisher, year, edition, pages
Keyword [en]
energy consumption, path planning, robot dynamics
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-146962OAI: diva2:726615
8th International Conference on Digital Enterprise Technology - DET 2014; Stuttgart, Germany, 25–28 March, 2014
XPRES - Initiative for excellence in production research

QC 20140618

Available from: 2014-06-18 Created: 2014-06-18 Last updated: 2014-06-18Bibliographically approved

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