Time and energy optimal trajectory generation for coverage motion in industrial machines

被引：3

作者：

Halinga, Mathias Sebastian ^{[1
,2
]}

Nshama, Enock William ^{[2
]}

Schaefle, Tobias Rainer ^{[3
]}

Uchiyama, Naoki ^{[1
]}

机构：

[1] Toyohashi Univ Technol, Dept Mech Engn, Toyohashi 4418580, Japan

[2] Univ Dar Es Salaam, Dept Mech & Ind Engn, Dar Es Salaam 35091, Tanzania

[3] Fraunhofer Inst Mfg Engn & Automat IPA, D-70569 Stuttgart, Germany

来源：

ISA TRANSACTIONS | 2023年 / 138卷

关键词：

Computer numerical control machines; Feed drive systems; Multi-objective optimization; Pareto front; Path optimization; Trajectory generation; TOOL PATH OPTIMIZATION; GENETIC ALGORITHM; CYCLE TIME; EFFICIENCY; CONSUMPTION; SYSTEM;

D O I：

10.1016/j.isatra.2023.03.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The increase in computer numerical control machine efficiency highly contributes to environmental emission reduction and energy-savings. Path and trajectory optimizations are used to improve machine efficiency in a coverage motion such as pocket milling, polishing, inspection, gluing, and additive manufacturing. Several studies have proposed coverage motion optimization in improving machine efficiency for time and energy consumption. Ensuring the smoothness and satisfaction of the machine constraints in coverage motion is necessary. This paper proposes a multi-objective path and trajectory optimization to obtain a trade-off between time and energy consumption for coverage motion. Jerk limited acceleration profiles describe the trajectory where velocity profiles generated for each linear segment attain desirable velocities. The energy model of an industrial two-axis feed drive system is used in finding solutions to the optimization problem. The non-dominated sorting genetic algorithm II generates a Pareto front for trade-off time and energy consumption solutions. Simulation results of the proposed method are validated through experiments using the industrial two-axis feed drive system. Experimental results show the effectiveness of the proposed approach where time reduction and energy savings are 10.05% and 2.10%, respectively. In addition, the optimized path has a lower maximum error of 76.6% compared to the constantly commanded velocity optimized path.& COPY; 2023 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：735 / 745

页数：11

共 44 条

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