Optimal motion planning for energy efficient multi-axis applications

Abstract

In this paper, a new path planning approach for energy demand minimisation of general multi-axis robots is presented. In the proposed model-based trajectory optimisation, the efficient utilisation of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and servo drive losses, as well as the exchange of electrical energy. The non-linear optimisation problem is solved using global methods, considering kinematic and dynamic limitations. Simulation results are presented proving the performance of the algorithm and demonstrating the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required. The proposed approach is applicable to different multi-axis manipulator types with no need for additional investment or hardware modification.