An energy-saving optimization method for cyclic pick-and-place tasks based on flexible joint configurations

Abstract Optimizing the energy consumption of robot movements becomes one of the increasingly important issues in industry. Minimizing a robot's movement has been identified as one of the strategies to improve energy efficiency in robotic systems. In this paper, a mathematical model of the total energy consumption of cycle pick-and-place tasks is proposed, which considers operating motion and homing motion of a given trajectory with different joint configurations. Optimal joint configurations for cyclic pick-and-place tasks are investigated in order to maximize energy saving. Finally, a case study is described to illustrate the proposed method and the results show that compared with fixed joint configurations, the proposed method based on flexible joint configurations reduces the energy consumption by 10.33%.

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