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## Abstract

This thesis is the result of a collaboration with SACMI Tech, a branch of SACMI Imola scrl. The objective of this work is the development of a trajectory generation strategy for industrial palletizers based on optimal control techniques.
The main contribution is the design of an optimal control algorithm capable of generating a (practically) time-optimal trajectory, i.e., a trajectory for the palletizers that minimizes the travel time between the loading station and the offloading pallet. Notably, this trajectory must satisfy a number of constraints in order to be feasible for the real system and safe towards collisions.
Here we consider an approximate version of classical minimum-time optimization problems (i.e., where time is an optimization variable) which are, in general, very hard to solve. Instead of looking for a minimum time trajectory, we approximate the original problem by setting up an optimal control problem to track a reference that travels at maximum speed the minimum distance path between the start and goal points. This simplified cost function allows us to use a simpler optimization algorithm that requires less computational effort to produce a result.
The palletizer is working continuously by executing a series of tasks that requires a feasible trajectory for the machine to follow. This means that the algorithm must be able to address real-time constraints given by the palletizer and, when executed, must be able to generate a result within a deadline.
Due to the high efficiency of the optimization algorithm, we are able to produce a result in a small amount of time (on average within a second), but if it's not able to compute an optimal trajectory on time we must be able to return a feasible result to allow the palletizer to keep working. For this reason, by using an efficient generation strategy for feasible trajectories we are always able to return a trajectory to the machine in order to perform the desired movement.

Abstract

This thesis is the result of a collaboration with SACMI Tech, a branch of SACMI Imola scrl. The objective of this work is the development of a trajectory generation strategy for industrial palletizers based on optimal control techniques.
The main contribution is the design of an optimal control algorithm capable of generating a (practically) time-optimal trajectory, i.e., a trajectory for the palletizers that minimizes the travel time between the loading station and the offloading pallet. Notably, this trajectory must satisfy a number of constraints in order to be feasible for the real system and safe towards collisions.
Here we consider an approximate version of classical minimum-time optimization problems (i.e., where time is an optimization variable) which are, in general, very hard to solve. Instead of looking for a minimum time trajectory, we approximate the original problem by setting up an optimal control problem to track a reference that travels at maximum speed the minimum distance path between the start and goal points. This simplified cost function allows us to use a simpler optimization algorithm that requires less computational effort to produce a result.
The palletizer is working continuously by executing a series of tasks that requires a feasible trajectory for the machine to follow. This means that the algorithm must be able to address real-time constraints given by the palletizer and, when executed, must be able to generate a result within a deadline.
Due to the high efficiency of the optimization algorithm, we are able to produce a result in a small amount of time (on average within a second), but if it's not able to compute an optimal trajectory on time we must be able to return a feasible result to allow the palletizer to keep working. For this reason, by using an efficient generation strategy for feasible trajectories we are always able to return a trajectory to the machine in order to perform the desired movement.

Tipologia del documento

Tesi di laurea
(Laurea magistrale)

Autore della tesi

Sartori, Fabio

Relatore della tesi

Correlatore della tesi

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

high efficiency industrial machines,fast obstacle avoidance trajectory,optimization,optimal control,minimum-time trajectories

Data di discussione della Tesi

22 Marzo 2023

URI

## Altri metadati

Tipologia del documento

Tesi di laurea
(NON SPECIFICATO)

Autore della tesi

Sartori, Fabio

Relatore della tesi

Correlatore della tesi

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

high efficiency industrial machines,fast obstacle avoidance trajectory,optimization,optimal control,minimum-time trajectories

Data di discussione della Tesi

22 Marzo 2023

URI

Gestione del documento: