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Energy Saving Planner Model via Differential Evolutionary Algorithm for Bionic Palletizing Robot
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DOI：10.3390/s22197545.png)
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摘要
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Energy saving in palletizing robot is a fundamental problem in the field of industrial robots. However, the palletizing robot often suffers from the problems of high energy consumption and lacking flexibility. In this work, we introduce a novel differential evolution algorithm to address the adverse effects caused by the instability of the initial trajectory parameters while reducing the energy. Specially, a simplified analytical model of the palletizing robot is firstly developed. Then, the simplified analytical model and the differential evolutionary algorithm are combined to form a planner with the goal of reducing energy consumption. The energy saving planner optimizes the initial parameters of the trajectories collected by the bionic demonstration system, which in turn enables a reduction in the operating power consumption of the palletizing robot. The major novelty of this article is the use of a differential evolutionary algorithm that can save the energy consumption as well as boosting its flexibility. Comparing with the traditional algorithms, the proposed method can achieve the state-of-the-art performance. Simulated and actual experimental results illustrate that the optimized trajectory parameters can effectively reduce the energy consumption of palletizing robot by 16%.
Keyword:
palletizing robot
differential evolutionary algorithm
bionic demonstration system
optimization of energy
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期刊
IF:
3.5
论文数:
7.2W
被引数:
20.9W
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