Abstract
This study proposes a method for generating optimal time and energy trajectory for coverage motion with simultaneous geometric path optimization. The non-dominated sorting genetic algorithm II is used to generate a Pareto front for trade-off time and energy consumption solutions. The energy model of an industrial two-axis feed drive system is used in finding solutions to the optimization problem. The modified S-curve is generated to describe the motion by introducing the harmonic motion into the jerk limited acceleration profile and achieving smooth jerk continuity. The method is suitable for industrial machines that perform operations such as pocket milling, polishing, and inspection. The case study is carried out by simulation, and Pareto optimal solutions are found. The optimization results are illustrated, where the best trade-off solution achieves a time reduction and energy savings of approximately 11.07% and 1.99%, respectively.
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