Optimization of the robot motion law by the criterion of minimizing maximum instantaneous power and electric motor size

Abstract

Maximum instantaneous power consumption of robot drives determines requirements for power supply systems and dimensions of drives for robots and different process machines. The tasks of minimizing peaks in power consumption and drive sizes are acquired when creating autonomous robots operating under restrictions for installed capacity and weight-size parameters of the equipment. For a large number of such robots there are no process restrictions for types of applied motion laws and their numerical characteristics: maximum speeds and accelerations. The motion law type and especially its parameters are traditionally determined by the designer preferences without any justification. These are, for example, restrictions for maximum accelerations or speeds. The first is usually associated with the need to ensure strength and accuracy of the robot, the second - with safety of service personnel in the robot working area. Using the example of one of the most common motion laws the relation of instantaneous power and energy consumption on the payload are studied. Results of this research can be used as a basis for robot drives design in view of accepted criteria when optimal parameters of the motion law are calculated for each drive operation cycle depending on anticipated or actual load.