《Minimization of the Energy Consumption in Motion Planning for Single-robot Tasks》.pdf

Available online at ScienceDirect Procedia CIRP 29 ( 2015 ) 354 – 359 The 22nd CIRP conference on Life Cycle Engineering Minimization of the energy consumption in motion planning for single-robot tasks a, a a a Stefania Pellegrinelli *, Stefano Borgia , Nicola Pedrocchi , Enrico Villagrossi , Giacomo Bianchia, Lorenzo Molinari Tosattia * Corresponding author. Tel.: +390223699954; fax: +390223999915. stefania.pellegrinelli@r.it Abstract Recently, the importance of sustainable manufacturing has been widely discussed. The optimization of energy consumption in product manufacture has been deeply analyzed, mainly focusing on the energy directly absorbed by the manufacturing process. On the contrary, this paper focuses on the analysis and optimization of the energy consumption related to auxiliary robotic assembly processes, contributing to the identification of sustainable manufacturing strategies for pick and place robots. It proposes a methodology for the automatic generation of robot trajectories and the sequencing of the robot task, while minimizing the energy consumption. A probabilistic roadmap is created to identify a collision-free and minimum energy consumption trajectory for each couple of feasible tasks. Trajectory power consumption is evaluated exploiting dynamic information coming from the real robot motion planner using a model that takes into account the