文章基本信息

标题：On the Trajectory Planning for Energy Efficiency in Industrial Robotic Systems †
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作者：Giovanni Carabin ; Lorenzo Scalera
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2020
卷号：9
期号：4
页码：89-101
DOI：10.3390/robotics9040089
出版社：MDPI Publishing
摘要：In this paper, we present an approach for the minimum-energy trajectory planning in industrial robotic systems. The method is based on the dynamic and electro-mechanical modeling of one-degree-of-freedom systems and the derivation of the energy formulation for standard point-to-point trajectories, as, for instance, trapezoidal and cycloidal speed profiles. The proposed approach is experimentally validated on two robotic systems, namely a linear axis of a Cartesian manipulator built in the 1990’s, and a test bench composed of two servomotors directly connected or coupled by means of a planetary gear. During the tests, the electrical power expended by the systems is measured and integrated over time to compute the energy consumption for each trajectory. Despite the limitations of the energy measurement systems, the results reveal a trend in agreement with the theoretical calculations, showing the possibility of applying the method for enhancing the performance of industrial robotic systems in terms of energy consumption in point-to-point motions.
关键词：robotics; trajectory planning; dynamic modeling; energy efficiency; point-to-point motion robotics ; trajectory planning ; dynamic modeling ; energy efficiency ; point-to-point motion