Towards Integrated OR/CP Energy Optimization for Robot Cells

被引：0

作者：

Wigstrom, Oskar ^{[1
]}

Lennartson, Bengt ^{[1
]}

机构：

[1] Chalmers Univ Technol, Dept Signals & Syst, Automat Res Grp, S-41296 Gothenburg, Sweden

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper concerns the energy optimization of systems with interacting robots. Pseudo spectral optimal control is used to collocate the continuous time dynamics of each robot. The resulting model is a multi stage, multi robot, trajectory planning problem with timing constraints. In the case of a given task sequence, the mathematical formulation is that of a Nonlinear Programming problem. We present two example problems where three 3-DoF robots work together. For the case the problem consists of undetermined sequences, we outline an algorithm which integrates Operations Research methods with those of Constraint Programming.

引用

页码：1674 / 1680

页数：7

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