Details
| Original language | English |
|---|---|
| Title of host publication | ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani |
| Pages | 527-538 |
| Number of pages | 12 |
| ISBN (electronic) | 9789897582646 |
| Publication status | Published - 2017 |
| Event | 14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 - Madrid, Spain Duration: 26 Jul 2017 → 28 Jul 2017 |
Publication series
| Name | ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics |
|---|---|
| Volume | 2 |
Abstract
This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.
Keywords
- Efficient trajectory, Energy efficiency, Energy savings, Industrial robotics, Reduced moment of inertia, Time savings
ASJC Scopus subject areas
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Engineering(all)
- Control and Systems Engineering
Sustainable Development Goals
Cite this
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ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin; Kurosh Madani. 2017. p. 527-538 (ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Optimizing PTP motions of industrial robots through addition of via-points
AU - Ziaukas, Zygimantas
AU - Eggers, Kai
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2017
Y1 - 2017
N2 - This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.
AB - This paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. The system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. Therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3% at equal travel time and time savings up to 13.3% compared to initial PTP motion are possible. The approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.
KW - Efficient trajectory
KW - Energy efficiency
KW - Energy savings
KW - Industrial robotics
KW - Reduced moment of inertia
KW - Time savings
UR - http://www.scopus.com/inward/record.url?scp=85029356568&partnerID=8YFLogxK
U2 - 10.5220/0006396005270538
DO - 10.5220/0006396005270538
M3 - Conference contribution
AN - SCOPUS:85029356568
T3 - ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
SP - 527
EP - 538
BT - ICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
T2 - 14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017
Y2 - 26 July 2017 through 28 July 2017
ER -