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: | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/TASE.2012.2198816 |
Rivista: | |
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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