Energy-Efficient Point-to-Point Trajectory Generation for Industrial Robotic Machines
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Robots and mechatronic applications are widely used for process automation in plants and factories. Trajectory planning is a fundamental issue for operating these industrial machines and, in this work, a point-to-point (PTP) trajectory based on a S-curve has been designed to reduce the consumed energy of a typical mechatronic system, i.e. a robotic linear axis made of an electric-motor that moves a payload on a plane by means of a transmission system and a toothed belt. This evaluation is used to find the minimum energy consumption conditions, also taking into account the possibility of using a regenerative brake. The problem is defined and solved for several operative conditions, either in a closed-form or numerically using a genetic algorithm.
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Energy saving in mechatronic systems through optimal point-to-point trajectory generation via standard primitives Carabin G; Vidoni R; Wehrle E (Springer Netherlands, 2019)In this work, point-to-point (PTP) trajectories based on well-known motion primitives such as trapezoidal profiles have been here addressed and studied with the aim to reduce the overall energy consumed. For this study, a ...
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