Generation of Time and Energy Optimal Coverage Motion for Industrial Machines Using a Modified S-Curve Trajectory*
Generation of Time and Energy Optimal Coverage Motion for Industrial Machines Using a Modified S-Curve Trajectory*
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DOI：
10.1109/sii55687.2023.10039252
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发表时间：
2023-01
期刊：
影响因子：
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通讯作者：
Mathias Sebastian Halinga;Haryson Johanes Nyobuya;N. Uchiyama
中科院分区：
文献类型：
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作者：
Mathias Sebastian Halinga;Haryson Johanes Nyobuya;N. Uchiyama
提出了一种同时进行几何路径优化的覆盖运动时间和能量最优轨迹生成方法。非支配排序遗传算法II是用来产生一个帕累托前沿权衡时间和能源消耗的解决方案。工业两轴进给驱动系统的能量模型用于寻找优化问题的解决方案。通过在加加速度限制曲线中引入谐波运动，实现了加加速度的平滑连续，从而生成了描述运动的修正S曲线。该方法适用于执行诸如凹腔铣削、抛光和检查的操作的工业机器。最后，通过仿真计算，得到了Pareto最优解，并给出了优化结果，其中最优折衷方案分别实现了约11.07%的时间缩短和1.99%的能量节省。
This study proposes a method for generating optimal time and energy trajectory for coverage motion with simultaneous geometric path optimization. The non-dominated sorting genetic algorithm II is used to generate a Pareto front for trade-off time and energy consumption solutions. The energy model of an industrial two-axis feed drive system is used in finding solutions to the optimization problem. The modified S-curve is generated to describe the motion by introducing the harmonic motion into the jerk limited acceleration profile and achieving smooth jerk continuity. The method is suitable for industrial machines that perform operations such as pocket milling, polishing, and inspection. The case study is carried out by simulation, and Pareto optimal solutions are found. The optimization results are illustrated, where the best trade-off solution achieves a time reduction and energy savings of approximately 11.07% and 1.99%, respectively.