Authors: Christian Hansen; Jens Kotlarski; Tobias Ortmaier
Addresses: Institute of Mechatronic Systems, Leibniz Universität Hannover, Hanover, Germany ' Institute of Mechatronic Systems, Leibniz Universität Hannover, Hanover, Germany ' Institute of Mechatronic Systems, Leibniz Universität Hannover, Hanover, Germany
Abstract: In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification.
Keywords: industrial robotics; multi-axis robots; energy efficiency; energy losses; DC bus energy exchange; robot path planning; trajectory optimisation; Cartesian robots; global optimisation; minimum-time trajectory; motion planning; automation; mechatronics; robot motion; robot dynamics; simulation.
International Journal of Mechatronics and Automation, 2014 Vol.4 No.3, pp.147 - 160
Received: 05 Nov 2013
Accepted: 13 Jan 2014
Published online: 04 Sep 2014 *