Embedding detailed robot energy optimization into high-level scheduling

Reduction of energy consumption is important for reaching a sustainable future. This paper presents a novel method for optimizing the energy consumption of robotic manufacturing systems. The method embeds detailed evaluations of robots' energy consumptions into a scheduling model of the overall system. The energy consumption for each operation is modelled and parameterized as function of the operation execution time, and the energy-optimal schedule is derived by solving a mixed-integer nonlinear programming problem. The objective function for the optimization problem is then the total energy consumption for the overall system. A case study of a sample robotic manufacturing system is presented. It shows that there exists a possibility for a significant reduction of the energy consumption, in comparison to state-of-the-art scheduling approaches.

[1]  M. Fabian,et al.  Velocity balancing in flexible manufacturing systems , 2008, 2008 9th International Workshop on Discrete Event Systems.

[2]  Olaf Stursberg,et al.  Optimization of Timed Automata Models Using Mixed-Integer Programming , 2003, FORMATS.

[3]  Martin Fabian,et al.  Time-Optimal Coordination of Flexible Manufacturing Systems Using Deterministic Finite Automata and Mixed Integer Linear Programming , 2009, Discret. Event Dyn. Syst..

[4]  J. S. Park,et al.  Motion profile planning of repetitive point-to-point control for maximum energy conversion efficiency under acceleration conditions , 1996 .

[5]  Radim Visinka,et al.  Energy efficient three-phase AC motor drives for appliance and industrial applications , 2000 .

[6]  H. Diken,et al.  Energy efficient sinusoidal path planning of robot manipulators , 1994 .

[7]  Thomas Olofsson,et al.  Sensitivity of the total heat loss coefficient determined by the energy signature approach to different time periods and gained energy , 2009 .

[8]  Rolf Isermann,et al.  Mechatronic Systems: Fundamentals , 2003 .

[9]  Marcello Pellicciari,et al.  Engineering method for adaptive manufacturing systems design , 2009 .

[10]  Jon Rigelsford,et al.  Modelling and Control of Robot Manipulators , 2000 .

[11]  Rahman Saidur,et al.  A review on electrical motors energy use and energy savings , 2010 .

[12]  Oded Maimon,et al.  Energy analysis of robot task motions , 1991, J. Intell. Robotic Syst..

[13]  Anastasios D. Pouliezos,et al.  Optimal Robot Speed Trajectory by Minimization of the Actuator Motor Electromechanical Losses , 2002, J. Intell. Robotic Syst..

[14]  Chi Biu Wong,et al.  By-pass valve control to improve energy efficiency of pneumatic drive system. , 2009 .

[15]  Dal Y. Ohm.  SELECTION OF SERVO MOTORS AND DRIVES , 2006 .

[16]  Mats Alaküla,et al.  Optimization of a servo motor for an industrial robot application , 1999 .