Study on Energy Efficient Motion Planning for Industrial SCARA Robots by Particle Swarm Optimization

• Published in: Shisutemu Seigyo Jouhou Gakkai rombunshi Vol. 37; no. 11; pp. 283 - 290
• Main Authors: Liu, Ziang, Fujiwara, Tomofumi, Nishi, Tatsushi
• Format: Journal Article
• Language: Japanese
• Published: Kyoto THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) 15.11.2024; 一般社団法人 システム制御情報学会; Japan Science and Technology Agency
• Subjects: Belt conveyors; Completion time; Energy consumption; energy efficient control; Industrial robots; Motion planning; Particle swarm optimization; PID gains; Proportional integral derivative; Robot arms; Robot dynamics; Simulation; Workpieces
• ISSN: 1342-5668; 2185-811X; 2185-811X
• DOI: 10.5687/iscie.37.283

Reducing energy consumption in factories is important to reduce global warming. The objective of this study is to realize an energy-efficient motion plan for a robot arm that minimizes energy consumption and motion completion time for a part of the motion in which the robot arm carries a workpiece placed on a conveyor belt from an initial position to a specific target position. We conducted simulations to optimally tune the PID control gain of the industrial robot by using particle swarm optimization (PSO) in minimizing the energy consumption and motion completion time. As a result, a motion plan was obtained that reduced energy consumption while maintaining speed by inertia. The generated energy-efficient motion plans were applied to an industrial SCARA robot with results comparable to simulation.