Path planning approach for the amplification of electrical energy exchange in multi axis robotic systems
Path planning approach for the amplification of electrical energy exchange in multi axis robotic systems
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DOI：
10.1109/icma.2013.6617891
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Christian Hansen;J. Kotlarski;T. Ortmaier
中科院分区：
文献类型：
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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，提出了一种基于模型的轨迹优化路径规划方法。在所提出的方法中，回收的能量的有效利用是通过内部DC总线的能量交换的放大而引起的。基于能量的系统模型包括机器人动力学、机械和驱动损耗以及电能交换。考虑运动学和动力学限制，使用全局方法解决非线性优化问题。仿真结果证明了该算法的性能，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，并且该方法适用于不同的多轴机械手类型，而不需要额外的投资或硬件修改。
A new path planning approach for energy demand minimization of general multi axis robots by model-based trajectory optimization is presented. In the proposed method, the efficient utilization 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 drive losses, as well as the exchange of electrical energy. The nonlinear optimization problem is solved using global methods, considering kinematic and dynamic limitations. Simulations results are presented that prove the performance of the algorithm and demonstrate the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required and the approach is applicable to different multi axis manipulator types with no need for additional investment or hardware modification.