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. [10.1109/TASE.2012.2198816]

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