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1、Availableonlineatwww.sciencedirect.comScienceDirectProcediaCIRP29(2015)354–359The22ndCIRPconferenceonLifeCycleEngineeringMinimizationoftheenergyconsumptioninmotionplanningforsingle-robottasksStefaniaPellegrinellia,*,StefanoBorgiaa,NicolaPedrocchia,EnricoVillagrossia,Gia
2、comoBianchia,LorenzoMolinariTosattiaaInstituteofIndustrialTechnologiesandAutomation,NationalResearchCouncil,ITIA-CNR,ViaBassini15,Milan,20133,Italy*Correspondingauthor.Tel.:+390223699954;fax:+390223999915.E-mailaddress:stefania.pellegrinelli@itia.cnr.itAbstractRecently,
3、theimportanceofsustainablemanufacturinghasbeenwidelydiscussed.Theoptimizationofenergyconsumptioninproductmanufacturehasbeendeeplyanalyzed,mainlyfocusingontheenergydirectlyabsorbedbythemanufacturingprocess.Onthecontrary,thispaperfocusesontheanalysisandoptimizationoftheen
4、ergyconsumptionrelatedtoauxiliaryroboticassemblyprocesses,contributingtotheidentificationofsustainablemanufacturingstrategiesforpickandplacerobots.Itproposesamethodologyfortheautomaticgenerationofrobottrajectoriesandthesequencingoftherobottask,whileminimizingtheenergyco
5、nsumption.Aprobabilisticroadmapiscreatedtoidentifyacollision-freeandminimumenergyconsumptiontrajectoryforeachcoupleoffeasibletasks.Trajectorypowerconsumptionisevaluatedexploitingdynamicinformationcomingfromtherealrobotmotionplannerusingamodelthattakesintoaccounttheenerg
6、ybehaviorofmotorsanddrivesandtheiroperativeconditions.Asetofgeneratedtrajectoriesisselected,definingthetasksequenceandminimizingtherobotcycletime.Thedifferencesbetweentheresultsderivingbyemploymentoftheenergyconsumptionminimizationcriterionversustimeminimizationcriterio
7、narepresentedthroughasimplifiedcase.?2015TheAuthors.PublishedbyElsevierB.V.?2015TheAuthors.PublishedbyElsevierB.V.ThisisanopenaccessarticleundertheCCBY-NC-NDlicensePeer-reviewunderresponsibilityoftheInternationalScientificCommitteeoftheConference“22ndCIRPconferenceonLif
8、eCycl(http://creativecommons.org/licenses/by-nc-nd/4.0/).eEngineering.”Peer-reviewunderresponsibilityofthescie
