Energy Efficient Trajectories for an Industrial ABB Robot

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

“…In MP trajectory optimization, the energy consumption of a mechatronic system is achieved by both optimizing the path and the timing [68][69][70][79][80][81]. In literature, the studied systems are usually multi-degrees-of-freedom systems.…”

“…In literature, the studied systems are usually multi-degrees-of-freedom systems. If planar motion is to be achieved, both planar (e.g., two-degrees-of-freedom [70] and three-degrees-of-freedom [68] redundant manipulators) and spatial kinematics (e.g., six-degrees-of-freedom anthropomorphic industrial manipulators [69,[79][80][81]) are exploited. The system dynamics are usually modeled by means of a classical formulation, Equations (1) and (2).…”

“…Generally, parameters are retrieved by datasheet, by CAD, or are estimated on the basis of some assumptions [68,70,[79][80][81]. Rarely are the dynamic parameters obtained through an identification procedure such as that in [69], for which the robot performs a specific excitation trajectory and data about torque, speed and acceleration are collected directly or indirectly before the dynamic parameters are extrapolated.…”

“…In [68], a variational approach within the B-spline function is implemented. In [69,81], the searching methods are used in combination with a commercial robotic programming studio. This provides a set of trajectories in the form of the "time history" of each joint and, by evaluating these, the trajectory that allows for the minimum consumption is chosen.…”

“…Indeed, this highly depends on several parameters, such as the system type and the considered task. Some authors [68,69,79,81] compare the results of their optimization algorithm with that provided by a commercial integrated development environment for robotics. Paes et al [69] claim savings of energy of up to 4%, compared to the fastest trajectory obtained with ABB RobotStudio, in a pick-and-place movement.…”