Parametric optimization of stored energy in robots with regenerative drive systems

Khalaf, Poya; Richter, Hanz

doi:10.1109/aim.2016.7576970

Cited by 11 publications

(12 citation statements)

References 7 publications

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“…Most of the research literature on CRM does not place emphasis on energy considerations. Optimization of the energy consumption for single robots and general electromechanical systems is well documented [5], [2], [7], [1], [11], [4], [6], [3], [12], [13], [14], [15], [16]. In the field of robotics, researches in [2], [1], [4], [3] minimized energy consumption considering capacitive storage elements.…”

Section: A Review Of Related Workmentioning

confidence: 99%

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An Overview of Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Ghorbanpour,

Richter

2021

Preprint

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An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy consumption and maintaining stability. To this end, the augmented dynamics of the robots, their actuators and the load is formed, and an impedance control is adopted. A virtual control strategy is used to decouple torque control from actuator control. An optimization problem is then formulated using energy balance equations. The optimization finds the damping and stiffness gains of the impedance relation such that the energy consumption is minimized. Furthermore, L2 stability techniques are used to allow for time-varying damping and stiffness in the desired impedance. A numerical example is provided to demonstrate the results.

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Section: A Review Of Related Workmentioning

confidence: 99%

“…Robots with on-board, finite energy storage are prevalent in electric vehicles, powered human assistive devices, aerospace vehicles, etc. [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11].…”

Section: Introductionmentioning

confidence: 99%

An Overview of Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Ghorbanpour,

Richter

2021

Preprint

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“…Furthermore, as with any system with finite on-board power storage, operation must be stopped once charge (indicated by V cap ) drops below an acceptable threshold and the system recharged. It is important to note that self-sustained operation or even charge buildup can occur, depending on system parameters and trajectories [4], [33], [34], [36].…”

Section: Semi-active Virtual Control Strategymentioning

confidence: 99%

“…Based on this framework, several papers have focused on the use of evolutionary algorithms and other numerical methods to find optimal system parameters that optimize a combination of motion tracking and energy enhancing objectives [29]- [32]. In addition, the authors have investigated analytical solutions to the general parameter optimization for robotic systems [33], [34]. Global closed form solutions are found for the robot parameters (e.g.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization of Robots With Regenerative Drive Systems: Numerical and Experimental Results

Khalaf

Richter

2020

IEEE Trans. Robot.

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We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control problem is formulated to find point-to point trajectories maximizing the amount of energy regenerated and stored in the capacitor. The optimization problem, its numerical solution and an experimental evaluation are demonstrated using a PUMA 560 manipulator. A comprehensive experimental setup was prepared to evaluate power flows and energy regeneration. Tracking of optimal trajectories was enforced on the robot using a standard robust passivity based control approach. Experimental results show that when following optimal trajectories, a reduction of about 13% in energy consumption can be achieved for the conditions of the study.

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“…3. Hardware addition: The addition of components for storing and recovering energy [20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35][36].…”

Section: Robot Typementioning

confidence: 99%

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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Parametric optimization of stored energy in robots with regenerative drive systems

Cited by 11 publications

References 7 publications

An Overview of Energy-Optimal Impedance Control of Cooperative Robot Manipulators

An Overview of Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Trajectory Optimization of Robots With Regenerative Drive Systems: Numerical and Experimental Results

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

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