Towards Integrated OR/CP Energy Optimization for Robot Cells
Paper in proceeding, 2014
This paper concerns the energy optimization of systems with interacting robots. Pseudo spectral optimal control is used to collocate the continuous time dynamics of each robot. The resulting model is a multi stage, multi robot, trajectory planning problem with timing constraints. In the case of a given task sequence, the mathematical formulation is that of a Nonlinear Programming problem. We present two example problems where three 3-DoF robots work together. For the case the problem consists of undetermined sequences, we outline an algorithm which integrates Operations Research methods with those of Constraint Programming.
Author
Oskar Wigström
Chalmers, Signals and Systems, Systems and control
Bengt Lennartson
Chalmers, Signals and Systems, Systems and control
IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31 - 7 June 2014
1050-4729 (ISSN)
1674-1680Areas of Advance
Information and Communication Technology
Production
Subject Categories (SSIF 2011)
Robotics
Control Engineering
DOI
10.1109/ICRA.2014.6907076