A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots

被引：15

作者：

Gadaleta, Michele ^{[1
]}

Berselli, Giovanni ^{[2
]}

Pellicciari, Marcello ^{[1
]}

Sposato, Mario ^{[1
]}

机构：

[1] Univ Modena & Reggio Emilia, Enzo Ferrari Dept Engn, Via P Vivarelli,10, I-41125 Modena, Italy

[2] Univ Genoa, Dept Mech Energet Management & Transportat, Via AllOpera Pia,15-A, I-16145 Genoa, Italy

来源：

27TH INTERNATIONAL CONFERENCE ON FLEXIBLE AUTOMATION AND INTELLIGENT MANUFACTURING, FAIM2017 | 2017年 / 11卷

关键词：

Computer-Aided Robotic tools; Industrial Robots; Energy Optimization; Delmia Robotics; Sustainable Manufacturing; MANIPULATORS; CONSUMPTION;

D O I：

10.1016/j.promfg.2017.07.114

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code. (C) 2017 The Authors. Published by Elsevier B.V.

引用

页码：319 / 328

页数：10

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