Estudio de la optimización bayesiana para reducir el consumo energético de un robot paralelo durante tareas pick and place
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| dc.contributor.author | Mora, Juan Pablo
|
es_ES |
| dc.contributor.author | Samper, Julián
|
es_ES |
| dc.contributor.author | Rodriguez, Carlos F.
|
es_ES |
| dc.date.accessioned | 2023-01-12T11:14:18Z | |
| dc.date.available | 2023-01-12T11:14:18Z | |
| dc.date.issued | 2022-12-28 | |
| dc.identifier.issn | 1697-7912 | |
| dc.identifier.uri | http://hdl.handle.net/10251/191276 | |
| dc.description.abstract | [EN] Given the growth of installed units of robotic manipulators, and the sustainability requirements, the study of the power consumption has become indispensable. An energy consumption minimization strategy, based on the design of a point-to-point (PP) trajectory, is studied. Bayesian optimization, which allows to work with a mathematical model, as well as experimentation in a prototype, is used. First, a kinetical model based on the concept of virtual work and the Bayesian optimization method are presented. Second, the energy consumption of generic trajectories is compared to that of the solution found from traditional optimization methods, which use multipoint trajectories from splines and PP trajectories, and Bayesian optimization results, that uses PP trajectories. That analysis finds that traditional optimization methods with the multipoint approach result in the lowest energy consumption computational estimation. Nevertheless, the experimental tests confirm that the Bayesian optimization model, with real data feedback, can find the best solution in terms of the experimental estimation of energy consumption, thanks to the consideration of dynamics that were not modeled in the mathematical model. | es_ES |
| dc.description.abstract | [ES] El aumento de unidades instaladas de robots industriales y los requerimientos de sostenibilidad exigen el estudio del consumo energético. Se propone una estrategia de reducción del consumo energético, basada en el diseño de una trayectoria punto a punto (PP). Se utiliza la optimización bayesiana que permite incluir información de un prototipo experimental en conjunto con un modelo matemático. Primero, se presenta el modelo cinético basado en el trabajo virtual y el problema de optimización bayesiana. Segundo, se realiza una comparación entre el consumo energético de trayectorias genéricas, métodos de optimización tradicionales, que utilizan trayectorias multi punto construidas por splines y trayectorias PP, y la optimización bayesiana propuesta, que utiliza una trayectoria PP. Se encuentra que en simulaciones computacionales los métodos tradicionales de optimización consiguen un consumo de energía menor que a través del método de optimización bayesiana. Sin embargo, a través de pruebas experimentales se verifica la ventaja del método de optimización bayesiana que, al incorporar datos reales del prototipo y dinámicas no modeladas, logran obtener un consumo energético menor. | es_ES |
| dc.language | Español | es_ES |
| dc.publisher | Universitat Politècnica de València | es_ES |
| dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
| dc.rights | Reconocimiento - No comercial - Compartir igual (by-nc-sa) | es_ES |
| dc.subject | Bayesian optimization | es_ES |
| dc.subject | Energy expenditure | es_ES |
| dc.subject | Robot manipulators | es_ES |
| dc.subject | Optimal trajectory | es_ES |
| dc.subject | Robot dynamics | es_ES |
| dc.subject | Optimización bayesiana | es_ES |
| dc.subject | Consumo energético | es_ES |
| dc.subject | Manipuladores robóticos | es_ES |
| dc.subject | Trayectoria óptima | es_ES |
| dc.subject | Dinámica de robots | es_ES |
| dc.title | Estudio de la optimización bayesiana para reducir el consumo energético de un robot paralelo durante tareas pick and place | es_ES |
| dc.title.alternative | Bayesian optimization study for energy consumption reduction of a parallel robot during pick and place tasks | es_ES |
| dc.type | Artículo | es_ES |
| dc.identifier.doi | 10.4995/riai.2022.16724 | |
| dc.rights.accessRights | Abierto | es_ES |
| dc.description.bibliographicCitation | Mora, JP.; Samper, J.; Rodriguez, CF. (2022). Estudio de la optimización bayesiana para reducir el consumo energético de un robot paralelo durante tareas pick and place. Revista Iberoamericana de Automática e Informática industrial. 20(1):1-12. https://doi.org/10.4995/riai.2022.16724 | es_ES |
| dc.description.accrualMethod | OJS | es_ES |
| dc.relation.publisherversion | https://doi.org/10.4995/riai.2022.16724 | es_ES |
| dc.description.upvformatpinicio | 1 | es_ES |
| dc.description.upvformatpfin | 12 | es_ES |
| dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
| dc.description.volume | 20 | es_ES |
| dc.description.issue | 1 | es_ES |
| dc.identifier.eissn | 1697-7920 | |
| dc.relation.pasarela | OJS\16724 | es_ES |
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