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Minimum Energy Trajectory Optimization for Driving Systems of Palletizing Robot Joints
المؤلفون المشاركون
He, Ying
Mei, Jiangping
Zhang, Fan
Fang, Zhiwei
Zhao, Yanqin
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-26، 26ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-12-03
دولة النشر
مصر
عدد الصفحات
26
التخصصات الرئيسية
الملخص EN
Palletizing robot is widely used in logistics operation.
At present, people pay attention to not only the loading capacity and working efficiency of palletizing robots, but also the energy consumption in their working process.
This paper takes MD1200-YJ palletizing robot as the research object and studies the problem of low energy consumption optimization of joint driving system from the perspective of trajectory optimization.
Firstly, a multifactor dynamic model of palletizing robot is established based on the conventional inverse rigid body dynamic model of the robot, the Stribeck friction model and the spring balance torque model.
And then based on joint torque, friction torque, motion parameter, and joule’s law, the useful work model, thermal loss model of joint motor, friction energy consumption model of joint system, and total energy consumption model of palletizing robot are established, and through simulation and experiment, the correctness of the multifactor dynamic model and energy consumption model is verified.
Secondly, based on the Fourier series approximation method to construct the joint trajectory expression, the minimum total energy consumption as the optimization objective, with coefficients of Fourier series as optimization variables, the motion parameters of initial and final position, and running time constant as constraint conditions, the genetic algorithm is used to solve the optimization problem.
Finally, through the simulation analysis the optimized Fourier series motion law and the 3-4-5 polynomial motion law are comprehensively evaluated to verify the effectiveness of the optimization method.
Moreover, it provides the theoretical basis for the follow-up research and points out the direction of improvement.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
He, Ying& Mei, Jiangping& Fang, Zhiwei& Zhang, Fan& Zhao, Yanqin. 2018. Minimum Energy Trajectory Optimization for Driving Systems of Palletizing Robot Joints. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-26.
https://search.emarefa.net/detail/BIM-1208766
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
He, Ying…[et al.]. Minimum Energy Trajectory Optimization for Driving Systems of Palletizing Robot Joints. Mathematical Problems in Engineering No. 2018 (2018), pp.1-26.
https://search.emarefa.net/detail/BIM-1208766
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
He, Ying& Mei, Jiangping& Fang, Zhiwei& Zhang, Fan& Zhao, Yanqin. Minimum Energy Trajectory Optimization for Driving Systems of Palletizing Robot Joints. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-26.
https://search.emarefa.net/detail/BIM-1208766
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1208766
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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