Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators

In this paper, a task-dependent energetic analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energy consumption of a robotic manipulator to its inertia ellipsoid. To validate the method, the dynamic and electro-mechanic models of a three degrees-of-freedom (3-DOF) SCARA robot are implemented and the influence of the location of a predefined point-to-point task (such as a pick-and-place operation) within the robot workspace is considered. The task-dependent analysis provides energy consumption maps that are compared with the prediction of the theoretical formulation based on the proposed trajectory energy index (TEI), which can be used to optimally locate the task to obtain minimal energy consumption without having to compute it through extensive dynamic simulations. Results show the effectiveness of the method and the good agreement between the TEI and the effective energy consumption within the whole workspace of the robot for several trajectories.

[1]  Dario Richiedei,et al.  Optimization of the Energy Consumption Through Spring Balancing of Servo-Actuated Mechanisms , 2019, Journal of Mechanical Design.

[2]  Alberto Trevisani,et al.  Analytical computation of the energy-efficient optimal planning in rest-to-rest motion of constant inertia systems , 2016 .

[3]  G. K. Ananthasuresh,et al.  Perfect Static Balance of Linkages by Addition of Springs But Not Auxiliary Bodies , 2012 .

[4]  Jeha Ryu,et al.  New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators , 2003, IEEE Trans. Robotics Autom..

[5]  R. H. Park,et al.  Two-reaction theory of synchronous machines generalized method of analysis-part I , 1929, Transactions of the American Institute of Electrical Engineers.

[6]  Wim Dewulf,et al.  Energy efficient trajectories for an industrial ABB robot , 2014 .

[7]  R.W. Erickson,et al.  Prediction of switching loss variations by averaged switch modeling , 2000, APEC 2000. Fifteenth Annual IEEE Applied Power Electronics Conference and Exposition (Cat. No.00CH37058).

[8]  Damien Chablat,et al.  Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: Application to the Orthoglide , 2010 .

[9]  Rogério Rodrigues dos Santos,et al.  Optimal Task Placement of a Serial Robot Manipulator for Manipulability and Mechanical Power Optimization , 2010, Intell. Inf. Manag..

[10]  Roderic A. Grupen,et al.  Velocity-dependent dynamic manipulability , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[11]  Paolo Gallina,et al.  A Performance Index for Planar Repetitive Workspace Robots , 2014 .

[12]  B. Stoyanov,et al.  On the Performance Indexes for Robot Manipulators , 2007 .

[13]  Pradeep K. Khosla,et al.  Dexterity measures for design and control of manipulators , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[14]  Alessandro Gasparetto,et al.  Natural Motion for Energy Saving in Robotic and Mechatronic Systems , 2019, Applied Sciences.

[15]  Jorge Angeles,et al.  Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots , 2019, Journal of Mechanisms and Robotics.

[16]  Giovanni Boschetti,et al.  Cable Robot Performance Evaluation by Wrench Exertion Capability , 2018, Robotics.

[17]  Claudio Melchiorri,et al.  Trajectory Planning for Automatic Machines and Robots , 2010 .

[18]  J. A. Carretero,et al.  Formulating Jacobian matrices for the dexterity analysis of parallel manipulators , 2006 .

[19]  Ryo Kurazume,et al.  A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellipsoids , 2006, IEEE Transactions on Robotics.

[20]  Werner Schiehlen,et al.  Control and Experiments with Energy-Saving SCARA Robots , 2016 .

[21]  H. Harry Asada,et al.  Dynamic analysis and design of robot manipulators using inertia ellipsoids , 1984, ICRA.

[22]  Maurizio Ruggiu.  Kinematic and Dynamic Analysis of a Two-Degree-of-Freedom Spherical Wrist , 2010 .

[23]  Dario Richiedei,et al.  Energy-efficient design of multipoint trajectories for Cartesian robots , 2019, The International Journal of Advanced Manufacturing Technology.

[24]  Hamid D. Taghirad,et al.  Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis , 2013 .

[25]  Giovanni Carabin,et al.  Energy Saving in Mechatronic Systems Through Optimal Point-to-Point Trajectory Generation via Standard Primitives , 2018, Mechanisms and Machine Science.

[26]  Oscar Altuzarra,et al.  Point-based Jacobian formulation for computational kinematics of manipulators , 2006 .

[27]  Haibin Yin,et al.  Hybrid Structure Design of Lightweight Robotic Arms Based on Carbon Fiber Reinforced Plastic and Aluminum Alloy , 2019, IEEE Access.

[28]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[29]  Hanz Richter,et al.  Parametric optimization of stored energy in robots with regenerative drive systems , 2016, 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[30]  Murat Kucukvar,et al.  Energy-climate-manufacturing nexus: New insights from the regional and global supply chains of manufacturing industries , 2016 .

[31]  Marcello Pellicciari,et al.  Energy Efficient Use of Multirobot Production Lines in the Automotive Industry: Detailed System Modeling and Optimization , 2014, IEEE Transactions on Automation Science and Engineering.

[32]  Atsushi Kato,et al.  Simple Motion Trajectory Generation for Energy Saving of Industrial Machines , 2014 .

[33]  Jörg Franke,et al.  Reducing the energy consumption of industrial robots in manufacturing systems , 2015 .

[34]  Charles A. Klein,et al.  Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators , 1987 .

[35]  Sarosh H. Patel,et al.  Manipulator Performance Measures - A Comprehensive Literature Survey , 2015, J. Intell. Robotic Syst..

[36]  Qinchuan Li,et al.  New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators , 2017 .

[37]  Alberto Trevisani,et al.  Optimal robot positioning using task-dependent and direction-selective performance indexes: General definitions and application to a parallel robot , 2013 .

[38]  Giovanni Carabin,et al.  A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems , 2017, Robotics.

[39]  Alessandro Gasparetto,et al.  Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator , 2019, RAAD.

[40]  J. Merlet.  Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots , 2005, ISRR.