This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.

A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots / Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello; Sposato, Mario. - In: PROCEDIA MANUFACTURING. - ISSN 2351-9789. - 11:(2017), pp. 319-328. [10.1016/j.promfg.2017.07.114]

A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots

Gadaleta, Michele
;
Berselli, Giovanni;Pellicciari, Marcello;Sposato, Mario
2017

Abstract

This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.
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A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots / Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello; Sposato, Mario. - In: PROCEDIA MANUFACTURING. - ISSN 2351-9789. - 11:(2017), pp. 319-328. [10.1016/j.promfg.2017.07.114]
Gadaleta, Michele; Berselli, Giovanni; Pellicciari, Marcello; Sposato, Mario
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1160255
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