Optimal motion planning for energy efficient multi-axis applications
Optimal motion planning for energy efficient multi-axis applications
复制标题
节能多轴应用的最佳运动规划
DOI：
--
复制
发表时间：
2014
影响因子：
--
通讯作者：
T. Ortmaier
中科院分区：
文献类型：
--
作者：
Christian Hansen;J. Kotlarski;T. Ortmaier
针对一般多轴机器人的能量需求最小化问题，提出了一种新的路径规划方法。在提出的基于模型的轨迹优化中，通过内部直流母线的能量交换放大，诱导了回收能量的有效利用。基于能量的系统模型包括机器人动力学、机械和伺服驱动损耗以及电能交换。非线性优化问题采用全局方法求解，考虑了运动学和动力学限制。仿真结果证明了该算法的有效性，并展示了电能交换的有益效果。如果需要，可以保留最小时间标准。该方法适用于不同类型的多轴机械手，不需要额外的投资或硬件修改。
In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification.