Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems

Vergnano, Alberto; Thorstensson, C.; Lennartson, B.; Falkman, P.; Pellicciari, Marcello; Leali, Francesco; Biller, S.

doi:10.1109/TASE.2011.2182509

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. - Volume: 9, Issue: 2(2012), pp. 423-428. [10.1109/TASE.2011.2182509]

Data di pubblicazione:	2012
Titolo:	Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems
Autore/i:	Vergnano, Alberto; C., Thorstensson; B., Lennartson; P., Falkman; Pellicciari, Marcello; Leali, Francesco; S., Biller
Autore/i UNIMORE:	VERGNANO, ALBERTO C. Thorstensson B. Lennartson P. Falkman PELLICCIARI, Marcello LEALI, Francesco S. Biller mostra contributor esterni nascondi contributor esterni
Digital Object Identifier (DOI):	http://dx.doi.org/10.1109/TASE.2011.2182509
Rivista:	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Volume:	Volume: 9, Issue: 2
Pagina iniziale:	423
Pagina finale:	428
Codice identificativo ISI:	WOS:000304755100022
Codice identificativo Scopus:	2-s2.0-84859764431
Citazione:	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. - Volume: 9, Issue: 2(2012), pp. 423-428. [10.1109/TASE.2011.2182509]
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