A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots. Gadaleta, M., Berselli, G., Pellicciari, M., & Sposato, M. Procedia Manufacturing, 11(June):319–328, The Author(s), 2017.
A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots [link]Paper  A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots [pdf]Paper  doi  abstract   bibtex   1 download  
This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code.

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