| Issue |
E3S Web Conf.
Volume 378, 2023
The First International Interdisciplinary Scientific and Practical Conference Man in the Arctic (IIRPCMIA 2021)
|
|
|---|---|---|
| Article Number | 03002 | |
| Number of page(s) | 5 | |
| Section | Development of the Energy Sector in the Arctic | |
| DOI | https://doi.org/10.1051/e3sconf/202337803002 | |
| Published online | 07 April 2023 | |
Investigation of the effect of algorithms of positioning robots on their power and energy consumption
1 Professor, Higher School of Automation and Robotics, Peter the Great St. Petersburg Polytechnic University, 195251, St. Petersburg, Russian Federation
2 Senior lecturer, Higher School of Automation and Robotics, Peter the Great St. Petersburg Polytechnic University, 195251, St. Petersburg, Russian Federation
3 Assistant lecturer, Higher School of Automation and Robotics, Peter the Great St. Petersburg Polytechnic University, 195251, St. Petersburg, Russian Federation
4 Associate professor, Higher School of Automation and Robotics, Peter the Great St. Petersburg Polytechnic University, 195251, St. Petersburg, Russian Federation
* Corresponding author: onmatsko@gmail.com
The paper is devoted to the study of motion algorithms that determine the power and energy consumption of process equipment and positioning robots, which are important factors affecting the environment and environmental safety of the technosphere. Based on the study of mathematical models of the degrees of mobility of the gantry robot drives, it is found that under the traditional laws of motion, a fairly significant peak in power consumption occurs at the end of acceleration. The paper shows that by separating in time the moments of the end of acceleration of different drives, it is possible to significantly reduce the maximum power of the robot. A comprehensive approach to the choice of an algorithm and laws of motion that provide an acceptable combination of energy consumption and maximum power consumption has been developed. The authors have shown that there are such laws of motion that ensure the constancy of power for the duration of the acceleration stage and its minimization. The relationship between the minimum instantaneous power and power consumption for such robots has been established. The results obtained can be used to optimize the operation algorithms of both of existing and newly +-robots.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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