Minimising Energy Consumption for Robot Arm Movement

摘要

Optimising the energy consumption of robot movements has been one of the main focuses for most of today’s robotic simulation software. This optimisation is based on minimising a robot’s joints movements. In many cases, it does not take into consideration the dynamic features. Therefore, reducing energy consumption is still a challenging task and it involves studying the robot’s kinematic and dynamic models together with application requirements. The primary focus of this research is to develop an optimisation model to reduce the energy consumption in robotic applications. An energy optimisation module reported in this paper was developed using Matlab. By solving the kinematics and dynamics equations of the robot, the module is able to optimise towards the minimum energy consumption of the robot’s movements. Moreover, placement of the targets in robot’s working area that minimise the energy consumption can be suggested. The results show the value of the reported approach as a tool for energy efficient robot path planning.