Energy-efficient trajectory planning for an industrial robot using a multi-objective optimisation approach

被引：19

作者：

Liu, Sichao ^{[1
]}

Wang, Yuquan ^{[1
]}

Wang, Xi Vincent ^{[1
]}

Wang, Lihui ^{[1
]}

机构：

[1] KTH Royal Inst Technol, Dept Prod Engn, S-10044 Stockholm, Sweden

来源：

PROCEEDINGS OF THE 8TH SWEDISH PRODUCTION SYMPOSIUM (SPS 2018) | 2018年 / 25卷

关键词：

Energy-efficient trajectory; Industrial robot; nonlinear programming; GENERATION; MANIPULATORS;

D O I：

10.1016/j.promfg.2018.06.122

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 an approach for energy-efficient trajectory planning of an industrial robot. A model that can be used to formulate the energy consumption of the robot with the kinematics constraints is developed. Given the trajectory in the Cartesian space, the septuple B-spline is applied in joint space trajectory planning to make the velocities, accelerations, and jerks bounded and continuous, with constraints on the initial and ending values. Then, energy-efficient optimisation problem with nonlinear constraints is discussed. Simulation results show that, the proposed approach is an effective solution to trajectory planning, with ensuring a good energy improvement and fluent movement for the robot manipulators. (C) 2018 The Authors. Published by Elsevier B.V.

引用

页码：517 / 525

页数：9

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