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Energy-Efficient Robot Configuration for Assembly
Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
Högskolan i Skövde, Institutionen för ingenjörsvetenskap. Högskolan i Skövde, Forskningscentrum för Virtuella system. (Produktion och Automatiseringsteknik, Production and Automation Engineering)ORCID-id: 0000-0002-8906-630X
Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
2017 (Engelska)Ingår i: Journal of manufacturing science and engineering, ISSN 1087-1357, E-ISSN 1528-8935, Vol. 139, nr 5, artikel-id 051007Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Optimizing the energy consumption of robot movements has been one of the main focuses for most of today's robotic simulation software. This optimization is based on minimizing a robot's joint movements. In many cases, it does not take into consideration the dynamic features. Therefore, reducing energy consumption is still a challenging task and it involves studying the robot's kinematic and dynamic models together with application requirements. This research aims to minimize the robot energy consumption during assembly. Given a trajectory and based on the inverse kinematics and dynamics of a robot, a set of attainable configurations for the robot can be determined, perused by calculating the suitable forces and torques on the joints and links of the robot. The energy consumption is then calculated for each configuration and based on the assigned trajectory. The ones with the lowest energy consumption are selected. Given that the energy-efficient robot configurations lead to reduced overall energy consumption, this approach becomes instrumental and can be embedded in energy-efficient robotic assembly.

Ort, förlag, år, upplaga, sidor
2017. Vol. 139, nr 5, artikel-id 051007
Nyckelord [en]
industrial robots, machine-tools, consumption, optimization, constraints
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Produktion och automatiseringsteknik; INF201 Virtual Production Development
Identifikatorer
URN: urn:nbn:se:his:diva-13555DOI: 10.1115/1.4034935ISI: 000399395000009Scopus ID: 2-s2.0-84995900489OAI: oai:DiVA.org:his-13555DiVA, id: diva2:1094986
Tillgänglig från: 2017-05-11 Skapad: 2017-05-11 Senast uppdaterad: 2019-01-24Bibliografiskt granskad

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Schmidt, Bernard

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