工业机器人工作过程中能耗最小控制策略

Minimum Energy Consumption Control Strategy of Working Process of Industrial Robot

针对工业机器人作业过程中能耗高的问题,提出了一种工业机器人的能耗最小控制策略,有效降低六自由度串联工业机器人在指定轨迹下匀速工作过程中的能耗。在工业机器人腰部、大臂、小臂进行动力学建模基础上,针对机器人的腰关节、肩关节、肘关节等能耗较大关节的驱动电机建立其能耗模型。通过动力学模型和能耗模型推导出机器人目标能量函数,根据约束条件提出了机器人能耗最小控制策略。通过测量机器人各个关节不同转动速度时的电机的输入功率,理论能耗与实验的对比,验证了控制策略的有效性。该控制策略可以有效降低工业机器人的作业能耗,节能增效,并对工业机器人具有普适性。

Aimed at the problem of high energy consumption in the process of industrial robots,a minimum energy consumption control strategy of industrial robot was proposed,it was to effectively reduce the six degree of freedom series industrial robot energy consumption in the process of working at a constant speed under the specified path. Based on dynamics modeling of industrial robot waist,arm,forearm,the model was built of energy consumption in viewof the drive motor of the robot waist joint,shoulder joint,elbowjoint of large energy consumption. The robot target energy function is deduced through dynamic model and energy consumption model,the minimum energy consumption control strategy was presented according to the constraint. The effectiveness of the control strategy was verified through measuring the motor input power of the robot each joint at different rotational speed,by the theoretical and experimental energy consumption contrast. The control strategy can effectively reduce the operation energy consumption of the industrial robot,energy conservation and efficiency,and it had universality for industrial robot.