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Energy Optimization of Robotic Cells

机译：机器人细胞的能量优化

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摘要

This study focuses on the energy optimization of industrial robotic cells, which is essential for sustainable production in the long term. A holistic approach that considers a robotic cell as a whole toward minimizing energy consumption is proposed. The mathematical model, which takes into account various robot speeds, positions, power-saving modes, and alternative orders of operations, can be transformed into a mixed-integer linear programming formulation that is, however, suitable only for small instances. To optimize complex robotic cells, a hybrid heuristic accelerated by using multicore processors and the Gurobi simplex method for piecewise linear convex functions is implemented. The experimental results showed that the heuristic solved 93% of instances with a solution quality close to a proven lower bound. Moreover, compared with the existing works, which typically address problems with three to four robots, this study solved real-size problem instances with up to 12 robots and considered more optimization aspects. The proposed algorithms were also applied on an existing robotic cell in Škoda Auto. The outcomes, based on simulations and measurements, indicate that, compared with the previous state (at maximal robot speeds and without deeper power-saving modes), the energy consumption can be reduced by about 20% merely by optimizing the robot speeds and applying power-saving modes. All the software and generated datasets used in this research are publicly available.
机译：这项研究专注于工业机器人细胞的能量优化，这对于长期可持续生产至关重要。提出了一种整体方法，该方法从整体上考虑了机器人单元，从而将能耗降至最低。考虑了各种机器人速度，位置，省电模式和其他操作顺序的数学模型可以转换为混合整数线性编程公式，但仅适用于小型实例。为了优化复杂的机器人单元，实现了通过使用多核处理器和Gurobi单纯形法对分段线性凸函数进行加速的混合启发式算法。实验结果表明，启发式解决了93％的实例，解决方案质量接近已证明的下限。此外，与通常解决三到四个机器人问题的现有工作相比，本研究解决了多达12个机器人的实际问题实例，并考虑了更多的优化方面。拟议的算法还应用于ŠkodaAuto中现有的机器人单元。根据模拟和测量得出的结果表明，与以前的状态相比（在最大机器人速度且没有更深的省电模式的情况下），仅通过优化机器人速度和施加功率即可将能耗降低约20％。保存模式。本研究中使用的所有软件和生成的数据集都是公开可用的。

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  • 来源
    《Industrial Informatics, IEEE Transactions on》 |2017年第1期|92-102|共11页
  • 作者

    Libor Bukata; Přemysl Šůcha; Zdeněk Hanzálek; Pavel Burget;

  • 作者单位

    Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic;

    Faculty of Electrical Engineering, Department of Control Engineering, Czech Technical University in Prague, Prague, Czech Republic;

    Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic;

    Faculty of Electrical Engineering, Department of Control Engineering, Czech Technical University in Prague, Prague, Czech Republic;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Service robots; Optimization; Energy consumption; Brakes; Informatics;

    机译：服务机器人;优化;能耗;刹车;信息学;

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