Modelling of energy consumption of industrial robots

Řídicí technika a robotika

The reduction of energy consumption in manufacturing systems has become a major area of interest. Industrial robots participate significantly on energy consumption in these systems. In manufacturing, short production time is required. It is in contradiction to the requirement to reduce the energy consumption. The objectives of this work focus on an energy optimization of industrial robots-manipulators usually with 6 degrees of freedom in existing as well as newly created manufacturing systems.

There will be two objectives of this work. The first objective is a composition of energy models based on the robot parameters (dimensions, mass distribution, motor parameters) and real measurement of necessary input values (voltage, current) for a robot motion along various required trajectories. Owing to these data, it will be possible to create an energy function fW (s(t), v(t), a(t)) that gives the typical energy consumption of the robot relative to realized movements. The development of the procedures will be focused on composition of the energy model in a simple and fast way. A simplified parameterisation of the model will be created and its behaviour compared with real robot behaviour. The second objective is planning of the robot trajectories, which are energy-optimal and respecting additional constraints such as production cycle time, working space etc. The planning will be based on the robot energy model taking into account robot kinematics and dynamics.

The results are supposed to be applied to energy-consumption monitoring in digital-factory simulation environment and in the motion of real robots. Cooperation with a high-level robot scheduling research team is expected as well.