Energy Efficient Motion Planning of Dual-Armed Robots with Pickup Point Determination for Transportation Tasks

Tatsushi Nishi, Yuki Mori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose energy efficient, conflict-free motion planning of a dual-armed robot arm for transportation works. The determination of picking points and conflict-free motion planning are simultaneously optimized. We formulate a nonlinear optimization problem which aims to minimize the weighted sum of the energy consumption and the total completion time when the dynamics of the robot arms are given. The proposed method is implemented in an experimental system. The computational results show that the proposed method can save energy consumption and optimize the points for picking up workpieces while minimizing the total completion time. The performance of the dual-armed robot is shown to be more effective than that of a single-armed robot under various situations.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2018
PublisherIEEE Computer Society
Pages1401-1405
Number of pages5
ISBN (Electronic)9781538667866
DOIs
Publication statusPublished - Jan 9 2019
Externally publishedYes
Event2018 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2018 - Bangkok, Thailand
Duration: Dec 16 2018Dec 19 2018

Publication series

NameIEEE International Conference on Industrial Engineering and Engineering Management
Volume2019-December
ISSN (Print)2157-3611
ISSN (Electronic)2157-362X

Conference

Conference2018 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2018
CountryThailand
CityBangkok
Period12/16/1812/19/18

Keywords

  • Dual-Armed Robot
  • Engineering optimization
  • Manufacturing Systems
  • Robotics

ASJC Scopus subject areas

  • Business, Management and Accounting (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Safety, Risk, Reliability and Quality

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