Simple Motion Trajectory Generation for Energy Saving of Industrial Machines

Abstract

This paper presents an energy saving method for industrial machines using simple motion trajectories such as trapezoidal and S-curve velocity profiles. These velocity profiles consist of acceleration, constant velocity and deceleration time periods. This study deals with a feed drive system in which typical dynamics includes the inertia, viscous friction, Coulomb friction and back-EMF terms. The consumed energy depends only on an acceleration time period by giving total motion distance and total motion time, and by assuming that acceleration and deceleration times are identical. The authors also present an identification method of dynamic parameters of industrial machines for consumed energy prediction. Experimental results with industrial machines demonstrate the validity of the proposed analysis.

Dynamic Modelling and Control of Flexible Link Manipulators: Methods and Scope - Part 2

“…d) Search for the trajectory with minimum time using a suitable algorithm. Minimumenergy trajectory planning [Huang et al, 2011] (159) ; [Gregory et al, 2012] (160) ; [Korayem et al, 2012] (161) ; [Wigstrom et al, 2013] (162) ; [Du et al, 2015] (163) ; (164) ; [Carabin et al, 2019] (165) ; [Wu et al, 2020] (166) The steps are as follows ( (163) , (167) ). a) Identify the work process of the robot.…”

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“…In this work, they succeed to save 10% more energy for a differential drive robot by optimizing velocity profile. Ho [6], added the case study of simple motion trajectories, such as S-curve and trapezoidal. Wahab [7] investigated the various energy loss components and presented a well-defined and complete energy model.…”

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“…Paes et al [14] saved energy by "intelligently" programming robot trajectories, and they generated energy and time-optimal paths in consideration of all physical constraints within consideration. Ho et al [15] proposed a method to determine these parameters to reduce energy consumption, and also proposed a method for identifying the dynamic parameters of industrial machinery for pre-consuming energy consumption. Carabin et al [16], aiming at the point-to-point trajectory, based on the design of the dynamic and electromechanical modeling degrees of freedom system and the derivation of the standard energy formula, proposed a method of minimum energy trajectory planning.…”