Path planning approach for the amplification of electrical energy exchange in multi axis robotic systems

A new path planning approach for energy demand minimization of general multi axis robots by model-based trajectory optimization is presented. In the proposed method, the efficient utilization of recuperated energy is induced by amplification of energy exchange via the internal DC bus. The energy-based system model includes the robot dynamics, mechanical and drive losses, as well as the exchange of electrical energy. The nonlinear optimization problem is solved using global methods, considering kinematic and dynamic limitations. Simulations results are presented that prove the performance of the algorithm and demonstrate the beneficial effect of electrical energy exchange. Minimum time criteria can be retained if required and the approach is applicable to different multi axis manipulator types with no need for additional investment or hardware modification.