Every-Efficient Motion Planning for Dual-Armed Robot by PID Gain Optimization with Genetic Algorithm

Kazuki Nonoyama, Tatsushi Nishi

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

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages1155-1160
Number of pages6
ISBN (Electronic)9781665418737
DOIs
Publication statusPublished - Aug 23 2021
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: Aug 23 2021Aug 27 2021

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period8/23/218/27/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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