TY - GEN
T1 - Every-Efficient Motion Planning for Dual-Armed Robot by PID Gain Optimization with Genetic Algorithm
AU - Nonoyama, Kazuki
AU - Nishi, Tatsushi
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/23
Y1 - 2021/8/23
N2 - The purpose of this paper is to propose an energy-efficient pick-and-place motion planning that a robot grabs a workpiece on a belt-conveyor and releases it to specified position for saving energy of a dual-arm robot. The motion is evaluated by the objective function that has the number overshooting, the time of overshooting, the time of termination and the consumption of energy for the total minimization problem. The robot arm is controlled by PID controller, and its optimal PDI gains are obtained by a Genetic Algorithm. We conducted the numerical simulation to verify that the consumption of energy using a dual-arm robot can be decreased compared with that of one arm. The proposed motion planning has been implemented into real world motion planning problem. A dual-armed robot named duAro released by Kawasaki Heavy Industries, is used to carry out the real implementations to test the proposed pick-and-place motion planning. The experimental results show the effectiveness of the dual-armed motions compared with the single-arm motions for energy efficiency.
AB - The purpose of this paper is to propose an energy-efficient pick-and-place motion planning that a robot grabs a workpiece on a belt-conveyor and releases it to specified position for saving energy of a dual-arm robot. The motion is evaluated by the objective function that has the number overshooting, the time of overshooting, the time of termination and the consumption of energy for the total minimization problem. The robot arm is controlled by PID controller, and its optimal PDI gains are obtained by a Genetic Algorithm. We conducted the numerical simulation to verify that the consumption of energy using a dual-arm robot can be decreased compared with that of one arm. The proposed motion planning has been implemented into real world motion planning problem. A dual-armed robot named duAro released by Kawasaki Heavy Industries, is used to carry out the real implementations to test the proposed pick-and-place motion planning. The experimental results show the effectiveness of the dual-armed motions compared with the single-arm motions for energy efficiency.
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U2 - 10.1109/CASE49439.2021.9551508
DO - 10.1109/CASE49439.2021.9551508
M3 - Conference contribution
AN - SCOPUS:85117049018
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1155
EP - 1160
BT - 2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PB - IEEE Computer Society
T2 - 17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Y2 - 23 August 2021 through 27 August 2021
ER -
