Abstract
This work explores the possibility of exploiting kinematic redundancy as a tool to enhance the energetic performance of a robotic cell. The test case under consideration comprises a three-degree-of-freedom Selective Compliance Assembly Robot Arm (SCARA) robot and an additional linear unit that is used to move the workpiece during a pick and place operation. The trajectory design is based on a spline interpolation of a sequence of via-points: The corresponding motion of the joints is used to evaluate, through the use of an inverse dynamic model, the actuators effort and the associated power consumption by the robot and by the linear unit. Numerical results confirm that the suggested method can improve both the execution time and the overall energetic efficiency of the cell.
Highlights
The efficient use of resources is one of the challenges that industry has to face, to reduce the manufacturing and handling costs, and to comply with the directives set by the EuropeanUnion [1,2]
This model can be implemented within the trajectory optimization routine, which will include the numerical integration of Equation (5), following the approach commonly used in works such as [22]
Optimization variables includes the set of N − 1 times Ti between two consecutive via-points, which are collected in the vector T, and the acceleration time t a, which sets the design of the motion profile of the linear unit according to Equations (19) and (20)
Summary
The efficient use of resources is one of the challenges that industry has to face, to reduce the manufacturing and handling costs, and to comply with the directives set by the European. These models can be used to formulate optimization problems that can be solved analytically for simpler cases or numerically for more complex ones [16] Another tool that can be effectively exploited when designing energy-efficient motion profiles is kinematic redundancy, i.e., the availability of extra degrees of freedom of the robotic system [17]. This work suggest a novel approach to the topic of energy efficient operation of robots by discussing the optimization of the motion profiles for kinematically redundant robotic cells. This works proposes, as a test case, a robotic cell made by a three degrees of freedom (DOFs) Selective. The energy saving is evaluated by comparing the result of the application of the proposed method with and without the use of the additional linear unit
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