Energy Optimal Trajectory Algorithm for a Robotic Manipulator

摘要

In the context of the decrease in the number of industrial workers and the increase in labor costs, industrial robots have developed rapidly due to their many advantages. Especially after the COVID-19 epidemics, enterprises have accelerated the upgrade of robots intellectually. The quantity of china’s industrial robots grew by 20% in 2020. The 2021 year’s growth will reach 21%. At the same time, in the face of the global energy crisis, power rationing, energy conservation & emission reduction, the energy savings of robots are also inevitable. Under the same starting point and ending point, the energy consumption of different motion trajectory planning is very different. Based on the current mainstream industrial robot trajectory planning methods, this paper gives the trajectory algorithm formulas and optimizes them, and then combines the Lagrangian-Euler dynamics formula to derive the energy consumption formula. By simulating mainstream 6DOF manipulator robots, set the same starting point and ending point in the MatLab environment, testing different trajectories of various methods, planning and computing time-consuming, and energy consumption of the entire trajectory. The experimental results demonstrate that the energy consumption of the shortest path method is 1.4 times that of the quartic polynomial method, and the planning time is more than 800 times that of the quartic polynomial method. The energy consumption of the cubic Bezier curve method is 8.08 times that of the quartic polynomial method, and the planning time is 781 times that of the quartic polynomial method. The energy consumption of the seventh-degree polynomial method is 1.6 times that of the fourth-degree polynomial method, and the planning time is 1.28 times that of the quartic polynomial method. The time and energy consumption of the quartic polynomial and quantic polynomial methods are almost the same. Relatively speaking, the quartic polynomial interpolation method is better than the quintic polynomial.