Towards integrated OR/CP energy optimization for robot cells

Author

Wigstrom, Oskar ; Lennartson, Bengt

Author_Institution

Dept. of Signals & Syst., Chalmers Univ. of Technol., Gothenburg, Sweden

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

1674

Lastpage

1680

Abstract

This paper concerns the energy optimization of systems with interacting robots. Pseudo spectral optimal control is used to collocate the continuous time dynamics of each robot. The resulting model is a multi stage, multi robot, trajectory planning problem with timing constraints. In the case of a given task sequence, the mathematical formulation is that of a Nonlinear Programming problem. We present two example problems where three 3-DoF robots work together. For the case the problem consists of undetermined sequences, we outline an algorithm which integrates Operations Research methods with those of Constraint Programming.

Keywords

constraint handling; continuous time systems; energy consumption; multi-robot systems; nonlinear programming; operations research; optimal control; path planning; robot dynamics; 3-DoF robots; constraint programming; integrated OR-CP energy optimization; interacting robots; multirobot trajectory planning problem; multistage trajectory planning problem; nonlinear programming problem; operations research methods; pseudospectral optimal control; robot cells; robot continuous time dynamics; Dynamic scheduling; Inference algorithms; Optimal control; Optimization; Robots; Timing; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907076

Filename

6907076