Paper Info
Title
Multi-objective optimal trajectory planning of customized industrial robot based on reliable dynamic identification for improving control accuracy
Abstract
Purpose The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved dynamic model built by a novel parameter identification method has been proposed. Design/methodology/approach This paper proposes a novel multi-objective optimal approach to minimize the time and energy consumption of robot trajectory. First, the authors develop a reliable dynamic parameters identification method to obtain joint torques for formulating the normalized energy optimization function and dynamic constraints. Then, optimal trajectory variables are solved by converting the objective function into relaxation constraints based on second-order cone programming and Runge-Kutta discrete method to reduce the solving complexity. Findings Extensive experiments via simulation and in real customized robots are conducted. The results of this paper illustrate that the accuracy of joint torque predicted by the proposed model increases by 28.79% to 79.05% over the simplified models used in existing optimization studies. Meanwhile, under the same solving efficiency, the proposed optimization trajectory consumes a shorter time and less energy compared with the existing optimization ones and the polynomial trajectory. Originality/value A novel time-energy consumption optimal trajectory planning method based on dynamic identification is proposed. Most existing optimization methods neglect the effect of dynamic model reliability on energy efficiency optimization. A novel parameter identification approach and a complete dynamic torque model are proposed. Experimental results of dynamic matching torques verify that the control accuracy of optimal robot motion can be significantly improved by the proposed model.
Year
DOI
Venue
2022
10.1108/IR-12-2021-0301
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Keywords
DocType
Volume
Path planning, Dynamic identification, Time-energy consumption optimization, Sequential quadratic programming, Industrial robot, Control, Offline programming
Journal
49
Issue
ISSN
Citations 
6
0143-991X
0
PageRank 
References 
Authors
0.34
0
9
Name
Order
Citations
PageRank
Renluan Hou100.34
Jianwei Niu21643141.54
Yuliang Guo300.34
Tao Ren400.34
Bing Han514.88
Xiaolong Yu600.34
Qun Ma700.34
Jin Wang832988.76
Renjie Qi900.34