Mechatronics, 23(3):326–334, apr, 2013. Paper Paper doi abstract bibtex
The interest in novel methods and tools for opt imizing the energy consumption in robotic systems is cur- rently increasing. From an industrial point of view, it is desirable to develop energy saving strategies also applicable to established manufacturing systems with no need for either hardware substitu tion or further investme nts. Within this scenario, the present paper reports a method for reducing the total energy con- sumption of pick-and-place manipulators for given TCP position profiles. Firstly, electromechanical mod- els of both serial and parallel manipulators are derive d. Then, the energy-optimal trajectories are calculated, by means of constant time scaling, starting from pre-scheduled trajectories comp atible with the actuation limits. In this manner, the robot work cycle can be energetically optimized also when the TCP position profiles have been already defined on the basis of technological constraints and/or design choices aimed at guarante eing manufacturing process efficacy/robustness. The effectiveness of the pro- posed procedure is finally evaluated on two simulation case studies.