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Optimization of the energy consumption of industrial robots for automatic code generation

机译：优化用于自动代码生成的工业机器人的能耗

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摘要

At present, energy consumption strongly affects the financial payback period of industrial robots, as well as the related manufacturing process sustainability. Henceforth, during both design and manufacturing management stages, it becomes crucial to assess and optimize the overall energy efficiency of a robotic cell by means of digital manufacturing tools. In practice, robotic plant designers and managers should be able to provide accurate decisions also aimed at the energy optimization of the robotic processes. The strong scientific and industrial relevance of the topic has led to the development of many solutions but, unfortunately, state of the art industrial manipulators are equipped with closed controllers, which heavily limit the feasibility and performance of most of the proposed approaches. In light of the aforementioned considerations, the present paper presents a novel simulation tool, seamlessly interfaced with current robot offline programming tools used in industrial practices, which allows to automatically compute energy-optimal motion parameters, thus reducing the robot energy consumption, while also keeping the same productivity and manufacturing quality. The main advantage of this method, as compared to other optimization routines that are not conceived for direct integration with commercial industrial manipulators, is that the computed parameters are the same ones settable in the robot control codes, so that the results can automatically generate ready-to-use energy-optimal robot code. Experimental tests, performed on a KUKA Quantec KR210 R2700 prime industrial robot, have confirmed the effectiveness of the method and engineering tool.
机译：当前，能耗极大地影响了工业机器人的财务投资回收期以及相关的制造过程可持续性。今后，在设计和制造管理阶段，通过数字制造工具评估和优化机器人单元的整体能效至关重要。在实践中，机器人工厂的设计人员和管理人员应该能够提供准确的决策，这些决策也旨在实现机器人过程的能源优化。该主题与科学和工业的紧密联系已导致开发了许多解决方案，但不幸的是，最先进的工业机械手均配备了封闭式控制器，这严重限制了大多数拟议方法的可行性和性能。鉴于上述考虑，本文提出了一种新颖的仿真工具，可与工业实践中当前使用的机器人离线编程工具无缝接口，该工具可自动计算能量最佳运动参数，从而减少机器人能耗，同时保持相同的生产率和制造质量。与未设想与商业工业机械手直接集成的其他优化例程相比，此方法的主要优点是计算出的参数与机器人控制代码中可设置的参数相同，因此结果可以自动生成现成的-使用能量最佳的机器人代码。在KUKA Quantec KR210 R2700专业工业机器人上进行的实验测试证实了该方法和工程工具的有效性。

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