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Object-Oriented Modeling of Industrial Manipulators With Application to Energy Optimal Trajectory Scaling

[+] Author Affiliations
Marcello Pellicciari, Giovanni Berselli, Francesco Leali, Alberto Vergnano

University of Modena and Reggio Emilia, Modena, Italy

Bengt Lennartson

Chalmers University of Technology, Gothenburg, Sweden

Paper No. DETC2011-48390, pp. 997-1006; 10 pages
doi:10.1115/DETC2011-48390
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 37th Design Automation Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5482-2
  • Copyright © 2011 by ASME

abstract

The development of safe, energy efficient mechatronic systems is currently changing standard paradigms in the design and control of industrial manipulators. In particular, most optimization strategies require the improvement or the substitution of different system components. On the other hand, from an industry point of view, it would be desirable to develop energy saving methods applicable also to established manufacturing systems being liable of small possibilities for adjustments. Within this scenario, an engineering method is reported for optimizing the energy consumption of serial manipulators for a given operation. An object-oriented modeling technique, based on bond graph, is used to derive the robot electromechanical dynamics. The system power flow is then highlighted and parameterized as a function of the total execution times. Finally, a case study is reported showing the possibility to reduce the operation energy consumption when allowed by scheduling or manufacturing constraints.

Copyright © 2011 by ASME

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