Energy Efficient Trajectory Planning in Robotic Cells via Virtual Prototyping Tools

The constant growth in global energy demand, and corresponding prices rise, is soaring new engineering methods for reducing energy consumption in manufacturing processes. For decades, industrial robotics have been enabling quality enhancement of end-products by using flexible manufacturing processes, without much concern to energy cost, but now a makeover is happening. Calls for sustainable and green manufacturing processes are being promoted across the globe with the aim to produce more goods and with less consumption. In this paper, a new method is presented focusing on the optimization of energy intake by industrial robots, without the need to change their hardware set and just modifying the trajectory planning of the end-effector. A test case scenario consisting of a robotic cell with 4 pick-and-place manipulators has been set to validate the method. Starting from a pre-scheduled trajectory, robots are moved at the highest speed and acceleration and, by performing the sequenced operations, the optimal trajectories are defined. The goal is to find a trajectory that minimizes the time cycle and the total energy consumption, while avoiding collisions between the robots’ links: comparing the results thereof to those of the pre-scheduled trajectory, noticeable energy saving has been obtained along with possible decrease of the cycle time.KeywordsComputer-aided engineering toolsVirtual prototypingEnergy efficiencyTrajectory planningRobot scheduling