Reduction of energy consumption is important for reaching a sustainable future. This paper presents a novel method for optimizing the energy consumption of robotic manufacturing systems. The method embeds detailed evaluations of robots' energy consumptions into a scheduling model of the overall system. The energy consumption for each operation is modeled and parameterized as function of the operation execution time, and the energy-optimal schedule is derived by solving a mixed-integer nonlinear programming problem. The objective function for the optimization problem is then the total energy consumption for the overall system. A case study of a sample robotic manufacturing system and an experiment on an industrial robot are presented. They show that there exists a real possibility for a significant reduction of the energy consumption in comparison to state-of-the-art scheduling approaches.
Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems / Vergnano, Alberto; C., Thorstensson; B., Lennartson; P., Falkman; Pellicciari, Marcello; Leali, Francesco; S., Biller. - In: IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING. - ISSN 1545-5955. - ELETTRONICO. - 9:2(2012), pp. 423-428. [10.1109/TASE.2011.2182509]
Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems
VERGNANO, ALBERTO;PELLICCIARI, Marcello;LEALI, Francesco;
2012
Abstract
Reduction of energy consumption is important for reaching a sustainable future. This paper presents a novel method for optimizing the energy consumption of robotic manufacturing systems. The method embeds detailed evaluations of robots' energy consumptions into a scheduling model of the overall system. The energy consumption for each operation is modeled and parameterized as function of the operation execution time, and the energy-optimal schedule is derived by solving a mixed-integer nonlinear programming problem. The objective function for the optimization problem is then the total energy consumption for the overall system. A case study of a sample robotic manufacturing system and an experiment on an industrial robot are presented. They show that there exists a real possibility for a significant reduction of the energy consumption in comparison to state-of-the-art scheduling approaches.File | Dimensione | Formato | |
---|---|---|---|
JOURNAL_ENG_2012_1_Modeling.pdf
Accesso riservato
Tipologia:
Versione pubblicata dall'editore
Dimensione
480.92 kB
Formato
Adobe PDF
|
480.92 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris