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Productivity/energy optimisation of trajectories and coordination for cyclic multi-robot systems
University West, Department of Engineering Science, Division of Production System. (PTW)ORCID iD: 0000-0002-0044-2795
Department of Signals and Systems, Chalmers University of Technology, S-412 96 Gothenburg, Sweden.
University West, Department of Engineering Science, Division of Production System. Department of Signals and Systems, Chalmers University of Technology, S-412 96 Gothenburg, Sweden. (PTW)
2018 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 49, p. 152-161Article in journal (Refereed) Published
Abstract [en]

The coordination of cyclic multi-robot systems is a critical issue to avoid collisions but also to obtain the shortest cycle-time. This paper presents a novel methodology for trajectory and coordination optimisation of cyclic multi-robot systems. Both velocity tuning and time delays are used to coordinate the robots that operate in close proximity and avoid collisions. The novel element is the non-linear programming optimisation model that directly co-adjusts the multi-robot coordination during the trajectory optimisation, which allows optimising these as one problem. The methodology is demonstrated for productivity/smoothness optimisation, and for energy efficiency optimisation. An experimental validation is done for a real-world case study that considers the multi-robot material handling system of a multi-stage tandem press line. The results show that the productivity optimisation with the methodology is competitive compared to previous research and that substantial improvements can be achieved, e.g. up to 50% smoother trajectories and 14% reduction in energy consumption for the same productivity. This paper addresses the current lack of systematic methodologies for generating optimal coordinated trajectories for cyclic multi-robot systems to improve the productivity, smoothness, and energy efficiency.

Place, publisher, year, edition, pages
New York: Pergamon Press, 2018. Vol. 49, p. 152-161
Keywords [en]
Robot systems, Multi-robot coordination, Trajectory optimisation, Energy minimisation
National Category
Robotics
Research subject
Production Technology; ENGINEERING, Manufacturing and materials engineering
Identifiers
URN: urn:nbn:se:hv:diva-11263DOI: 10.1016/j.rcim.2017.06.012ISI: 000412957500014Scopus ID: 2-s2.0-85021743164OAI: oai:DiVA.org:hv-11263DiVA, id: diva2:1129342
Available from: 2017-08-02 Created: 2017-08-02 Last updated: 2017-12-05Bibliographically approved

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Glorieux, EmileLennartson, Bengt

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