High Level Scheduling of Energy Optimal Trajectories

Wigstrom, O.; Lennartson, B.; Vergnano, Alberto; Breitholtz, C.

doi:10.1109/TASE.2012.2198816

The reduction of energy consumption is today addressed with great effort in manufacturing industry. In this paper, we improve upon a previously presented method for robotic system scheduling. By applying dynamic programming to existing trajectories, we generate new energy optimal trajectories that follow the same path but in a different execution time frame. With this new method, it is possible to solve the optimization problem for a range of execution times for the individual operations, based on one simulation only. The minimum energy trajectories can then be used to derive a globally energy optimal schedule. A case study of a cell comprised of four six-link manipulators is presented, in which energy optimal dynamic time scaling is compared to linear time scaling. The results show that a significant decrease in energy consumption can be achieved for any given cycle time.

High Level Scheduling of Energy Optimal Trajectories / O., Wigstrom; B., Lennartson; VERGNANO, ALBERTO; C., Breitholtz. - In: IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING. - ISSN 1545-5955. - STAMPA. - 10(2013), pp. 57-64.

Data di pubblicazione:	2013
Titolo:	High Level Scheduling of Energy Optimal Trajectories
Autore/i:	O., Wigstrom; B., Lennartson; VERGNANO, ALBERTO; C., Breitholtz
Autore/i UNIMORE:	O. Wigstrom B. Lennartson VERGNANO, ALBERTO C. Breitholtz mostra contributor esterni nascondi contributor esterni
Digital Object Identifier (DOI):	http://dx.doi.org/10.1109/TASE.2012.2198816
Rivista:	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Volume:	10
Pagina iniziale:	57
Pagina finale:	64
Codice identificativo ISI:	WOS:000312838100007
Codice identificativo Scopus:	2-s2.0-84871752574
Citazione:	High Level Scheduling of Energy Optimal Trajectories / O., Wigstrom; B., Lennartson; VERGNANO, ALBERTO; C., Breitholtz. - In: IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING. - ISSN 1545-5955. - STAMPA. - 10(2013), pp. 57-64.
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Utilizza questo identificativo per citare o creare un link a questo documento:
http://hdl.handle.net/11380/914689

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