Energy Consumption Modeling And Trajectory Optimization Of Industrial Robots

Industrial robot is a kind of high energy-consumption equipment with extremely low energy efficiency.It is widely used in handling,welding,spraying and other occasions.The actual demand for energy saving and emission reduction makes reducing the energy consumption of robots become another important task beyond improving control accuracy.The energy consumption of industrial robots is multi-source,complex,and dynamic,and it is difficult to predict the real-time power.At present,almost all studies on reducing the energy consumption of robots take the sum of squares of acceleration,the sum of squares of torque,and mechanical energy as the objective functions.However,these functions cannot accurately represent the real power of the robot.Because the openness of industrial robot controllers is not good enough,and many technical parameters are unknown,many studies on optimizing robot trajectories stay in the simulation stage,and the actual effect of energy consumption optimization cannot be known.In order to effectively reduce the energy consumption during the operation of an industrial robot,a detailed power consumption model of the robot system needs to be established,and the optimized trajectory is actually tested on the robot.Firstly,aiming at the problem that the joint torque of the industrial robot is difficult to predict,this paper takes the KR60-3 robot of KUKA company as an example,establishes the kinematic model of the robot by DH parameter method,and analyzes the dynamics of the robot by Newton Euler iteration method.On this basis,the classical dynamic parameter identification theory is used to obtain the dynamic parameters of the robot link,and the prediction error of the torque is effectively reduced by the genetic algorithm.Then,aiming at the problem that there are many sources of energy consumption of industrial robots and the loss is difficult to estimate due to the lack of electrical parameters,this paper analyzes the power consumption characteristics of the electrical system of the robot in detail,obtains the linear model of the loss power of the robot,designs the relevant excitation trajectory,and uses the least square method to identify the parameters in the model.The experimental results show that the model can accurately predict the power of industrial robots.Based on the known calculation methods of joint torque and electrical loss of the robot,this paper uses the B-spline function to plan the trajectory of the industrial robot in joint space,with the robot energy consumption as the objective function,and the time interval between the trajectory nodes as the variable.The trajectory of the robot is optimized by particle swarm optimization.Experimental results show that optimized trajectory can significantly reduce the energy consumption of the robot.