Generation of Time and Energy Optimal Coverage Motion for Industrial Machines Using a Modified S-Curve Trajectory

Halinga, Mathias Sebastian; Nyobuya, Haryson Johanes; Uchiyama, Naoki

doi:10.1109/sii55687.2023.10039252

Cited by 3 publications

(2 citation statements)

References 18 publications

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“…The last module to configure is the Systick Timer. This 24-bit timer is loaded with RELOAD_VALUE, a value given by the Equation (32) to generate an interrupt every t seconds, which allows ensuring a time-fixed sampling. However, before starting the timer count, x f and T are set according to the information received by serial communication.…”

Section: Initial Configurationmentioning

confidence: 99%

“…Other authors have developed a hybrid approach. For instance, Nshama seeks, in addition to decreasing execution times, to reduce energy consumption in industrial feed drive systems [31], and Halinga with the same hybrid approach proposed a modified S-curve trajectory introducing harmonic functions into the constant jerk phases [32]. This work's motivation is to design a motion controller for precise tracking to reduce energy consumption through appropriate motion profiles.…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

Olmedo-García,

García-Martínez,

Cruz-Miguel

et al. 2023

Electronics

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This paper discusses the energy consumption of three parabolic, trapezoidal, and S-curve profiles when implemented using an embedded system. In addition, it presents an alternative methodology for implementing motion controllers using an Advanced RISC Machine (ARM) microcontroller, which computes the trajectory and performs the control action in hard real-time. We experimented using a linear plant composed of a direct current (DC) motor coupled to an endless screw where a carriage was mounted. It can move mechanically along a rail at a distance of 1.16 m. A 4096 pulses per revolution (PPR) encoder was connected to the motor to calculate position and angular velocity. A Hall-effect-based current sensor was used to assess energy consumption. We conducted 40 tests for each profile to compare the energy consumption for the three motion profiles, considering cases with and without load on the carriage. We determined that the parabolic profile provides 22.19% lower energy consumption than the other profiles considered in this study, whereas the S-curve profile exhibited the highest energy consumption.

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Section: Initial Configurationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

Olmedo-García,

García-Martínez,

Cruz-Miguel

et al. 2023

Electronics

View full text Add to dashboard Cite

show abstract

A novel methodology for the selection of the optimal velocity profile for planned point-to-point trajectories in 1-DoF manipulators

Olier,

Ramírez,

Higuera

2024

Int J Adv Manuf Technol

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In this work, an approach based on velocity profile selection is developed and validated to decrease forces, acceleration, velocity, mechanical power, and energy consumption in 1 DOF Cartesian manipulators. Initially, a mathematical modeling of the kinematic and kinetic variables rising in linear, exponential, parabolic, sinusoidal, and s-curve ramp velocity profiles is proposed for different load conditions and saturation values of the velocity profiles, focusing on generic Cartesian manipulators moving a constant inertia load and not equipped with regenerative devices. Lastly, a summary table outlining the benefits and drawbacks of each velocity profile in relation to the relevant variables is given to the reader, along with a set of recommendations for selecting the best velocity profile in accordance with the load conditions and optimization goals. It was shown that, depending on the load conditions, the inappropriate choice of one type of speed profile can increase the required forces by up to 400%, the required maximum power by more than 88%, and the energy consumption by up to 77% with respect to the optimal speed profile.

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Real-time Embedded System-based Approach for Sensing Power Consumption on Motion Profiles

García-Martínez¹,

Garcı́a²,

Miguel³

et al. 2023

Preprint

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Currently, a wide variety of velocity profiles are used in motion control. Thus, this paper compares the energy consumption of three parabolic, trapezoidal, and S-curve profiles. We studied the case of using embedded systems since they are a powerful solution to monitor and coordinate the movement of devices and machinery in various industries combined with motion control applications. These integrated systems allow precise and efficient control of motors and actuators through control and feedback algorithms. In addition, we propose an alternative methodology for implementing motion controllers using an Advanced RISC Machine (ARM) microcontroller, which computes the trajectory and the control action in real-time. We conducted an experiment using a linear plant composed of a direct current (DC) motor coupled to an endless screw where a carriage is mounted that can move mechanically along a rail a distance of 1.16m. In addition, a 4096 pulses per revolution (PPR) encoder is connected to the motor to measure position and angular velocity, which compute the distance the carriage has moved in meters. A current sensor is used to assess the energy consumption, and 40 tests for each profile were carried out to compare the energy consumption for the three-motion profiles considering cases with and without load on the carriage.

show abstract

Generation of Time and Energy Optimal Coverage Motion for Industrial Machines Using a Modified S-Curve Trajectory

Cited by 3 publications

References 18 publications

Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

A novel methodology for the selection of the optimal velocity profile for planned point-to-point trajectories in 1-DoF manipulators

Real-time Embedded System-based Approach for Sensing Power Consumption on Motion Profiles

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