A Novel Sampling-Based Optimal Motion Planning Algorithm for Energy-Efficient Robotic Pick and Place

Energy usage in robotic applications is rapidly increasing as industrial robot installations grow. This research introduces a novel approach, using the rapidly exploring random tree (RRT)-based scheme for optimizing the robot’s motion planning and minimizing energy consumption. Sampling-based algori...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:Energies Ročník 16; číslo 19; s. 6910
Hlavní autoři: Alam, Md Moktadir, Nishi, Tatsushi, Liu, Ziang, Fujiwara, Tomofumi
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 30.09.2023
Témata:
Algorithms
Automation
Energy consumption
energy efficiency
graph search
Kinematics
Manufacturing
motion planning
Optimization
Planning
robot
Robotics
Robots
sampling algorithm
T
Teaching
Technology
trajectory generation
ISSN:1996-1073, 1996-1073
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Popis
Shrnutí:Energy usage in robotic applications is rapidly increasing as industrial robot installations grow. This research introduces a novel approach, using the rapidly exploring random tree (RRT)-based scheme for optimizing the robot’s motion planning and minimizing energy consumption. Sampling-based algorithms for path planning, such as RRT and its many other variants, are widely used in robotic motion planning due to their efficiency in solving complex high-dimensional problems efficiently. However, standard versions of these algorithms cannot guarantee that the generated trajectories are always optimum and mostly ignore the energy consumption in robotic applications. This paper proposes an energy-efficient industrial robotics motion planning approach using the novel flight cost-based RRT (FC-RRT*) algorithm in pick-and-place operation to generate nodes in a predetermined direction and then calculate energy consumption using the circle point method. After optimizing the motion trajectory, power consumption is computed for the rotary axes of a six degree of freedom (6DOF) serial type of industrial robot using the work–energy hypothesis for the rotational motion of a rigid body. The results are compared to the traditional RRT and RRT* (RRT-star) algorithm as well as the kinematic solutions. The experimental results of axis indexing tests indicate that by employing the sampling-based FC-RRT* algorithm, the robot joints consume less energy (1.6% to 16.5% less) compared to both the kinematic solution and the conventional RRT* algorithm.
Bibliografie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1996-1073
1996-1073
DOI:10.3390/en16196910