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dc.contributor.authorVysocký, Aleš
dc.contributor.authorPapřok, Richard
dc.contributor.authorŠafařík, Jakub
dc.contributor.authorKot, Tomáš
dc.contributor.authorBobovský, Zdenko
dc.contributor.authorNovák, Petr
dc.contributor.authorSnášel, Václav
dc.date.accessioned2021-01-30T12:04:55Z
dc.date.available2021-01-30T12:04:55Z
dc.date.issued2020
dc.identifier.citationApplied Sciences. 2020, vol. 10, issue 22, art. no. 8241.cs
dc.identifier.issn2076-3417
dc.identifier.urihttp://hdl.handle.net/10084/142612
dc.description.abstractFeatured Application: Proposed method can improve efficiency of non-technological movements of robotic manipulator. This has a wide range of use in the industry, where robot provides traverse between different technological operations. Abstract: Improved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present a new approach for the execution of a point-to-point robot motion. The energy efficiency of an industrial or collaborative robot is increased by the reduction of the energy consumption during nontechnological, path-independent movements. The novel trajectory generation method relies on particle swarm optimization with a Bezier curve interpolator. We present the effectiveness of the algorithm on several chosen trajectories, where the best result yields up to 40% energy saving, while the worst is still at least 10%. We verified the results of our method by real-world tests on a UR3 robotic arm.cs
dc.language.isoencs
dc.publisherMDPIcs
dc.relation.ispartofseriesApplied Sciencescs
dc.relation.urihttp://doi.org/10.3390/app10228241cs
dc.rights© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectenergy efficiencycs
dc.subjectmanipulatorscs
dc.subjectparticle swarm optimizationcs
dc.subjectrobot motioncs
dc.subjecttrajectory optimizationcs
dc.titleReduction in robotic arm energy consumption by particle swarm optimizationcs
dc.typearticlecs
dc.identifier.doi10.3390/app10228241
dc.rights.accessopenAccesscs
dc.type.versionpublishedVersioncs
dc.type.statusPeer-reviewedcs
dc.description.sourceWeb of Sciencecs
dc.description.volume10cs
dc.description.issue22cs
dc.description.firstpageart. no. 8241cs
dc.identifier.wos000594194100001


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© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
Except where otherwise noted, this item's license is described as © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.