Robots and mechatronic applications are widely used for process automation in plants and factories. Trajectory planning is a fundamental issue for operating these industrial machines and, in this work, a point-to-point (PTP) trajectory based on a S-curve has been designed to reduce the consumed energy of a typical mechatronic system, i.e. a robotic linear axis made of an electric-motor that moves a payload on a plane by means of a transmission system and a toothed belt. This evaluation is used to find the minimum energy consumption conditions, also taking into account the possibility of using a regenerative brake. The problem is defined and solved for several operative conditions, either in a closed-form or numerically using a genetic algorithm.

Energy-Efficient Point-to-Point Trajectory Generation for Industrial Robotic Machines

BOSCARIOL, Paolo;CARABIN, GIOVANNI;GASPARETTO, Alessandro;
2015-01-01

Abstract

Robots and mechatronic applications are widely used for process automation in plants and factories. Trajectory planning is a fundamental issue for operating these industrial machines and, in this work, a point-to-point (PTP) trajectory based on a S-curve has been designed to reduce the consumed energy of a typical mechatronic system, i.e. a robotic linear axis made of an electric-motor that moves a payload on a plane by means of a transmission system and a toothed belt. This evaluation is used to find the minimum energy consumption conditions, also taking into account the possibility of using a regenerative brake. The problem is defined and solved for several operative conditions, either in a closed-form or numerically using a genetic algorithm.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11390/1069995
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