Sammendrag
Increasing conscience about energy consumption in modern manufacturing processes require reliable information about energy consumption of robots.
Theoretical models of power required for specific end effectors can be calculated for given robots if all parameters of arm elements are known. For ordinary robot users neither masses, nor moments of inertia or friction losses are readily available, and theoretical calculation of energy consumption itself is unwieldy.
A different approach is proposed where systematic mapping the energy consumption for movement between points in a 3-D grid that fills a specific robot’s workspace, creating data sets of energy consumption for standard movement elements.
Theoretical models of power required for specific end effectors can be calculated for given robots if all parameters of arm elements are known. For ordinary robot users neither masses, nor moments of inertia or friction losses are readily available, and theoretical calculation of energy consumption itself is unwieldy.
A different approach is proposed where systematic mapping the energy consumption for movement between points in a 3-D grid that fills a specific robot’s workspace, creating data sets of energy consumption for standard movement elements.