Authors:
Zygimantas Ziaukas
;
Kai Eggers
;
Jens Kotlarski
and
Tobias Ortmaier
Affiliation:
Gottfried Wilhelm Leibniz Universität Hannover, Germany
Keyword(s):
Energy Savings, Energy Efficiency, Time Savings, Efficient Trajectory, Reduced Moment of Inertia, Industrial Robotics.
Related
Ontology
Subjects/Areas/Topics:
Energy Efficiency and Green Manufacturing
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Performance Evaluation and Optimization
;
Robotics and Automation
;
Systems Modeling and Simulation
Abstract:
This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system’s energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-
and-place or spot welding tasks.
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