Title :
Sustainable production automation - energy optimization of robot cells
Author :
Wigstrom, Oskar ; Lennartson, Bengt
Author_Institution :
Dept. of Signals & Syst., Autom. Res. Group, Chalmers Univ. of Technol., Gothenburg, Sweden
Abstract :
This paper concerns the reduction of energy use in manufacturing industry. If individual robot movements in a system are preprocessed using Dynamic Programming, one can attain a Mixed Integer Nonlinear Program (MINLP) which models the energy consumption of the complete system. This model can then be solved to optimality using mathematical programming. We have previously shown proof of concept for this energy reduction method. In this paper, we apply state of the art MINLP methods to a number of problems in order benchmark their effectiveness. Algorithms used are Nonlinear Programming based Branch and Bound (NLP-BB), Outer Approximation (OA), LP/NLP based Branch and Bound (LP/NLP-BB) and Extended Cutting Plane (ECP). Benchmarks show that the NLP-BB does not perform well for nonlinear scheduling problems. This is due to the weak lower bounds of the integer relaxations. For scheduling problems with nonlinear costs, ECP and in particular LP/NLP-BB are shown to outperform both NLP-BB and OA. The resulting energy optimal schedules for the examples show a significant decrease in energy consumption.
Keywords :
approximation theory; energy conservation; industrial robots; integer programming; linear programming; manufacturing systems; nonlinear programming; scheduling; sustainable development; tree searching; ECP; LP-NLP-BB; MINLP; NLP-BB; OA; dynamic programming; energy consumption; energy reduction method; energy use reduction; extended cutting plane; individual robot movements; linear programming; manufacturing industry; mathematical programming; mixed integer nonlinear programming; nonlinear costs; nonlinear programming based branch and bound; nonlinear scheduling problems; outer approximation; robot cells energy optimization; sustainable production automation; Benchmark testing; Collision avoidance; Energy consumption; Job shop scheduling; Robot kinematics; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630584