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毕业论文网 > 外文翻译 > 电子信息类 > 信息工程 > 正文

与工业机器人能量有效运行控制研究与仿真实现毕业论文有关的外文翻译资料:Energy efficient trajectories for an industrial ABB robot

 2021-03-21 00:41:59  

英语原文共 11 页

原文:

Energy efficient trajectories for an industrial ABB robot

Abstract

This paper presents a systematic methodology for on-site identification and energy-optimal path planning of an industrial robot. The identification experiments are carried out on-site, in a quick, non-invasive way using a CA8335 Qualistar three-phase electrical networks analyser. Next, the collected data is compared with a parametrised dynamic robot model in an optimisation routine. This routine results in the specification of a parametric dynamic robot model. The model is used as a dynamic constraint for a model predictive control problem, where other physical constraints are added i.e. the limited workspace and the constraints on the joint velocities and accelerations. A sequential quadratic programming solver is used to minimise a mechanical energy based cost function. The resulting energy-optimal path is translated into custom robot commands executable on an industrial robot. The systematic methodology is validated on an IRB1600 industrial ABB robot performing a custom pick-and-place operation. The obtained dynamic robot model is given and compared to the collected measurements. To demonstrate the possibility of energy saving by lsquo;intelligentlyrsquo; programming a robot trajectory the energy and time-optimal paths are generated taking all physical constraints into account. Simulation results show a significant time and energy improvement (up to 5%) compared to most trajectories generated by the ABB software. The most remarkable result is that the fastest energy-optimal trajectory turns out to be 4% more energy efficient and 3% faster then the commercially available fastest trajectory. Additional stand-still experiments show that activation of the brakes is favour

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