A method to minimise the energy consumption of an industrial robot

Abstract

This paper presents an efficient methodology for minimising the energy or power consumption of industrial robot arm. A popular industrial robot is taken as an example to do the analysis, the dimensions of this robot are used to find the joint angles through inverse kinematics, these are used to form energy function. The energy function is dependent on joint angles of the arm, which are derived from the inverse kinematics, and control attributes like friction between joints, movement, settling time and forces acting on the joints. Optimising the energy function will give a set of joint angles which consume minimal energy to perform the required task and also help to predict which optimisation technique (genetic algorithm, artificial neural networks and analytical hierarchy process) is suitable or gives better results for the desired need. In this work the energy function value is reduced by 11% from the original base value.