An Efficient Computation for Energy Optimization of Robot Trajectory

摘要

Due to the wide distribution and high energy-saving potential of industrial robots, energy optimization techniques of industrial robots attract increasing attention. Dynamic time-scaling methods can optimize the energy consumption of robots only by stretching or shrinking reference trajectories in the time dimension. Dynamic time-scaling methods show advantages over other energy-saving techniques because time-scaling methods can achieve energy savings without hardware investment. Traditional dynamic time-scaling methods need to search the possible state transitions from the initial configuration to the final configuration to obtain the optimal solution. The integration of robot transient power has to be carried out for each possible state transition, which directly leads to intensive computation. Therefore, in this article, an efficient computation method for robot trajectory optimization is proposed. Based on parameter separation, an energy characteristic parameter model based on the dynamic time-scaling is developed, which describes the energy consumption during the state transition as a function of the scaling parameters. Based on the energy characteristic parameter model, the dynamic programming algorithm can replace the integral operation of transient power with the substitution calculations, which avoids intensive computation. Experimental results show that the proposed method can achieve 33.7% less energy consumption, and the computation time can be reduced by nearly 99%.