Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization
Improved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present a new approach for the execution of a point-to-point robot motion. The energy efficiency of an industrial or collaborative robot is increased by the reduction of the energy consum...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/22/8241 |
| id |
doaj-635156c82fee4225b7304d39101aefeb |
|---|---|
| record_format |
Article |
| spelling |
doaj-635156c82fee4225b7304d39101aefeb2020-11-25T04:11:49ZengMDPI AGApplied Sciences2076-34172020-11-01108241824110.3390/app10228241Reduction in Robotic Arm Energy Consumption by Particle Swarm OptimizationAleš Vysocký0Richard Papřok1Jakub Šafařík2Tomáš Kot3Zdenko Bobovský4Petr Novák5 Václav Snášel6Department of Robotics, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicLaboratory of Big Data Analysis, IT4Innovations, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicDepartment of Robotics, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicDepartment of Computer Science, Faculty of Electrical Engineering and Computer Science, VSB-Technical University of Ostrava, 70800 Ostrava, Czech RepublicImproved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present a new approach for the execution of a point-to-point robot motion. The energy efficiency of an industrial or collaborative robot is increased by the reduction of the energy consumption during nontechnological, path-independent movements. The novel trajectory generation method relies on particle swarm optimization with a Bezier curve interpolator. We present the effectiveness of the algorithm on several chosen trajectories, where the best result yields up to 40 % energy saving, while the worst is still at least 10 %. We verified the results of our method by real-world tests on a UR3 robotic arm.https://www.mdpi.com/2076-3417/10/22/8241energy efficiencymanipulatorsparticle swarm optimizationrobot motiontrajectory optimization |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Aleš Vysocký Richard Papřok Jakub Šafařík Tomáš Kot Zdenko Bobovský Petr Novák Václav Snášel |
| spellingShingle |
Aleš Vysocký Richard Papřok Jakub Šafařík Tomáš Kot Zdenko Bobovský Petr Novák Václav Snášel Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization Applied Sciences energy efficiency manipulators particle swarm optimization robot motion trajectory optimization |
| author_facet |
Aleš Vysocký Richard Papřok Jakub Šafařík Tomáš Kot Zdenko Bobovský Petr Novák Václav Snášel |
| author_sort |
Aleš Vysocký |
| title |
Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization |
| title_short |
Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization |
| title_full |
Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization |
| title_fullStr |
Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization |
| title_full_unstemmed |
Reduction in Robotic Arm Energy Consumption by Particle Swarm Optimization |
| title_sort |
reduction in robotic arm energy consumption by particle swarm optimization |
| publisher |
MDPI AG |
| series |
Applied Sciences |
| issn |
2076-3417 |
| publishDate |
2020-11-01 |
| description |
Improved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present a new approach for the execution of a point-to-point robot motion. The energy efficiency of an industrial or collaborative robot is increased by the reduction of the energy consumption during nontechnological, path-independent movements. The novel trajectory generation method relies on particle swarm optimization with a Bezier curve interpolator. We present the effectiveness of the algorithm on several chosen trajectories, where the best result yields up to 40 % energy saving, while the worst is still at least 10 %. We verified the results of our method by real-world tests on a UR3 robotic arm. |
| topic |
energy efficiency manipulators particle swarm optimization robot motion trajectory optimization |
| url |
https://www.mdpi.com/2076-3417/10/22/8241 |
| work_keys_str_mv |
AT alesvysocky reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT richardpaprok reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT jakubsafarik reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT tomaskot reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT zdenkobobovsky reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT petrnovak reductioninroboticarmenergyconsumptionbyparticleswarmoptimization AT vaclavsnasel reductioninroboticarmenergyconsumptionbyparticleswarmoptimization |
| _version_ |
1724416826174078976 |