On the Relationship of Travel Time and Energy Efficiency of Industrial Robots

DOI

10.2991/icoiese-18.2019.21How to use a DOI?

Keywords

Industrial Robotic; Energy Efficiency; Efficient Trajectory Planning; Travel Time

Abstract

This paper presents an approach to quantify the energy saving potential with regard to travel time of industrial robot motions. In order to minimize the influence of the exemplary considered trajectories and, thus, provide general results, the evaluation is done on a large set of automatically generated point-to-point motions on a KUKA KR 210 serial robot. For this purpose, an energy model specifically tailored to industrial robots is introduced, along with an algorithm for automatic generation of appropriate evaluation trajectories. It is shown that the power consumption model requires an accurate inverse dynamics and friction model, while simplified models of motors and invertes yield sufficient results.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Kai Eggers
AU  - Zygimantas Ziaukas
AU  - Jens Kotlarski
AU  - Tobias Ortmaier
PY  - 2019/03
DA  - 2019/03
TI  - On the Relationship of Travel Time and Energy Efficiency of Industrial Robots
BT  - Proceedings of the 2018 International Conference on Industrial Enterprise and System Engineering (IcoIESE 2018)
PB  - Atlantis Press
SP  - 115
EP  - 121
SN  - 2589-4943
UR  - https://doi.org/10.2991/icoiese-18.2019.21
DO  - 10.2991/icoiese-18.2019.21
ID  - Eggers2019/03
ER  -