Energy saving control of robot

Abstract

Robot, a computer-controlled machine that is programmed to move, manipulates objects, and accomplishes work while interacting with its environment. The inspiration for the design of a robot manipulator is the human arm, but with some differences. Robots are able to perform repetitive tasks more quickly, cost efficiency, accurately than human forces and energy saving[1]. Energy saving as known as energy efficiency[2] is very important for every mechanical or electrical device such as robot. In this research, Region reaching/tracking controller[3-5] and Slotine & Li controller[6] are implements into SONY SCARA[7] separately. SCARA Robot energetic consumption comparison will to make in this research to figure out which controller will consume least energy in doing a similar tasks. Research of robotics aims to realize some aspects of human functions into a mechanical system. It is interesting to observe in our daily life activities that the desired target for our reaching movements is a region rather than a point or trajectory. For example, control of robot to put an object into a cup, throwing a dart to a dart board, picking up an object from a conveying belt, driving a car along a road etc. The region reaching controller are focusing on reaching on the stationary region, for example, put a straw in a cup. Author will show that region reaching controller is a suitable controller for energy efficiency purposes compare to Slotine & Li controller. However, in some applications such as driving a car along the road, shooting a moving targer etc, the desired region is not a static region but a moving region. So, region tracking is rather more practically used in daily life. Hence, later part of the research, author will implement the region tracking controller in the moving region, measure the energy used and compare it with the Slotine & Li controller.