Authors: Aiamunoori Manmadhachary; P.S.M.C. Chanakya
Addresses: Department of Mechanical Engineering, ICFAI Tech School, IFHE University, Hyderabad, Telangana, India ' Department of Mechanical Engineering, ICFAI Tech School, IFHE University, Hyderabad, Telangana, India
Abstract: This paper presents an efficient methodology for minimising the energy or power consumption of industrial robot arm. A popular industrial robot is taken as an example to do the analysis, the dimensions of this robot are used to find the joint angles through inverse kinematics, these are used to form energy function. The energy function is dependent on joint angles of the arm, which are derived from the inverse kinematics, and control attributes like friction between joints, movement, settling time and forces acting on the joints. Optimising the energy function will give a set of joint angles which consume minimal energy to perform the required task and also help to predict which optimisation technique (genetic algorithm, artificial neural networks and analytical hierarchy process) is suitable or gives better results for the desired need. In this work the energy function value is reduced by 11% from the original base value.
Keywords: industrial robot; energy consumption; inverse kinematics; genetic algorithm; GA; analytical hierarchy process; AHP; artificial neural networks; ANN.
International Journal of Energy Technology and Policy, 2019 Vol.15 No.2/3, pp.224 - 235
Received: 25 Aug 2017
Accepted: 29 May 2018
Published online: 04 Mar 2019 *