Energy-Efficient Trajectory Planning for Robot Manipulators

Abstract

Automated object manipulation is subject to various constraints, which can be affected by means of suitable motion strategies. With respect to an efficient motion design corresponding strategies are often referred to the manipulator’s energy consumption and performance considering its specified kinematic and dynamic characteristics. Supposing that various automated manufacturing processes use industrial robots and manipulators, an efficient motion design is able to reduce operating costs and CO2 emissions. This contribution is devoted to the simulation based energy optimization of robot motions, considering both the geometric path and the motion law of specific trajectories. In this context, two different levels of trajectory optimization are suggested, exposing the displacement of geometric nodes on the one hand and the variation of velocities and accelerations on the other hand. Due to its simple kinematic structure, the analyses exemplarily are focused on different trajectories of the manipulator Re-PlaLink, a five-bar linkage, which is capable of energy recuperation during regenerative mode. Accordingly, results show a significant energy reduction, establishing high potentials for an increased efficiency of industrial robots.

Natural Motion for Energy Saving in Robotic and Mechatronic Systems

“…In particular, hardware solutions include the implementation of new kinds of actuating systems, regenerative drives [5] and the design of lightweight manipulators [6][7][8]. The software approach is focused on time minimization, operations scheduling and trajectory optimization [9][10][11][12][13]. Mixed approaches rely upon the concurrent improvement of both hardware and software components of the automatic system.…”