Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems

Vergnano, Alberto; Thorstensson, Carl; Lennartson, Bengt; Falkman, Petter; Pellicciari, Marcello; Leali, Francesco; Biller, Stephan

doi:10.1109/tase.2011.2182509

Cited by 101 publications

(40 citation statements)

References 18 publications

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“…This method is initiated by optimizing the work schedule of IR by reducing their operating time, idle time, and optimizing the robot sequence of IR subtasks [35][36][37]. An example for the implementation of this method is the automatic start-up and shutdown of the IR during production-free time on weekends.…”

Section: Scheduling Ir Operationsmentioning

confidence: 99%

Reducing the energy consumption of industrial robots in manufacturing systems

Paryanto

Brossog

Bornschlegl

et al. 2015

Int J Adv Manuf Technol

150

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Reducing the energy consumption of industrial robots (IR) that are used in manufacturing systems has become a main focus in the development of green production systems. This is due to the reality that almost all automated manufacturing processes are using IR as the main component. Thus, reducing the energy consumption of IR will automatically reduce operating costs and CO 2 emissions. Therefore, a method for reducing the energy consumption of IR in manufacturing systems is desired. Firstly, this paper presents a literature survey of the research in energy consumption analysis of IR that is used in manufacturing processes. The survey found that current research in this field is focused on the development of simulation models of IR that are able to be used to predict its energy consumption. Secondly, a modular model to analyze power consumption and dynamic behavior of IR is developed. Afterward, an experimental investigation is carried out to validate and estimate the accuracy of the model developed. The investigation shows that the developed modular model can be conveniently used to optimize the industrial robot's operating parameters, which are commonly needed for production planning and at the process optimization stage. In addition, the investigation shows that the process constraints, environment layout, productivity requirement, Paryanto ( ) · M. Brossog · J. Franke as well as the robot payload and operating speed are the key factors that must be considered for optimizing the productivity and efficiency of IR.

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Section: Scheduling Ir Operationsmentioning

confidence: 99%

Reducing the energy consumption of industrial robots in manufacturing systems

Paryanto

Brossog

Bornschlegl

et al. 2015

Int J Adv Manuf Technol

150

View full text Add to dashboard Cite

show abstract

“…Operations scheduling is a further approach related to the motion planning modification that can be found in literature, which saves energy by reducing the energy consumption of a single robotic system or a robotic cell [61][62][63][64][65][66][67][76][77][78]88,89,91,92]. In a robotic cell, a robot works synchronously with other robots or mechatronic systems, and the whole work has to be balanced in order to avoid queues.…”

Section: Operations Schedulingmentioning

confidence: 99%

“…Thus, a robot waits for the completion of the previous robotic operation before executing its task in order to avoid collisions. The scheduling approach focuses on the optimization of the robot cell operations as a whole, and two main methods can be found: time scaling [61][62][63][64][65][76][77][78] and sequence scheduling [66,67,88,89,91].…”

Section: Operations Schedulingmentioning

confidence: 99%

“…The idle time between different operations is then used to reduce velocities and accelerations for reducing the energy consumption. With the same purpose, in [91,92], the consumption of the robots into a scheduling model of the overall system is evaluated: the energy requested to perform each operation is modeled and parametrized as a function of the operation's execution time. The optimal energy schedule is then derived by solving a mixed-integer non-linear programming problem.…”

Section: Sequence Schedulingmentioning

confidence: 99%

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A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

2017

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Abstract:In the last decades, increasing energy prices and growing environmental awareness have driven engineers and scientists to find new solutions for reducing energy consumption in manufacturing. Although many processes of a high energy consumption (e.g., chemical, heating, etc.) are considered to have reached high levels of efficiency, this is not the case for many other industrial manufacturing activities. Indeed, this is the case for robotic and automatic systems, for which, in the past, the minimization of energy demand was not considered a design objective. The proper design and operation of industrial robots and automation systems represent a great opportunity for reducing energy consumption in the industry, for example, by the substitution with more efficient systems and the energy optimization of operation. This review paper classifies and analyses several methodologies and technologies that have been developed with the aim of providing a reference of existing methods, techniques and technologies for enhancing the energy performance of industrial robotic and mechatronic systems. Hardware and software methods, including several subcategories, are considered and compared, and emerging ideas and possible future perspectives are discussed.

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“…Therefore, the problem of energy optimization becomes the joint torque optimization problem. For the trajectory optimization procedure, the integral of squared joint torques as the cost function is known from studies in the literature [25]. We introduce the following objective function as a standard for optimization.…”

Section: Objective Formulation Of Energy Consumptionmentioning

confidence: 99%

Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

Gao

Ding

et al. 2018

Mathematical Problems in Engineering

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As a substitute for humans, the mobile manipulator has become increasingly vital for on-site rescues at Nuclear Power Plants (NPPs) in recent years. The high energy efficiency of the mobile manipulator when executing specific rescue tasks is of great importance for the mobile manipulator. This paper focuses on the energy consumption of a robot executing the door-opening task, in a scenario mimicking an NPP rescue. We present an energy consumption optimization scheme to determine the optimal base position and joint motion of the manipulator. We developed a two-step procedure to solve the optimization problem, taking the quadric terms of the joint torques as the objective function. Firstly, the rotational motion of the door is parameterized by using piecewise fifth-order polynomials, and the parameters of the polynomials are optimized by minimizing the joint torques at the specified base position using the Quasi-Newton method. Second, the global optimal movement of the manipulator for executing the door-opening task is acquired by means of searching a grid for feasible base positions. Comprehensive door-opening experiments using a mobile manipulator platform were conducted. The effectiveness of the proposed method has been demonstrated by the results of physical experiments.

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Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems

Cited by 101 publications

References 18 publications

Reducing the energy consumption of industrial robots in manufacturing systems

Reducing the energy consumption of industrial robots in manufacturing systems

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

Optimal Energy Consumption for Mobile Manipulators Executing Door-Opening Task

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