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F. Vidussi, P. Boscariol, L. Scalera, A. Gasparetto
Energetic analysis of industrial robots for pick-and-place operations
Proceedings of the Second International Jc-IFToMM Symposium, Kanagawa, Japan, October 26, 2019

Abstract: In this paper a novel approach to the analysis of the energetic performance of an industrial robot is presented. The attention is focused on the energetic impact of two design variables which define a pick-and-place task: the choice of the trajectory planning algorithm and the location of the task within the workspace of the robot. An inverse dynamic model of the manipulator and the electro-mechanical model of the actuators are developed in order to estimate the energy consumption related to the execution of a basic motion task. The results are collected into energy consumption maps, which allow to investigate how the positioning of the task and the choice of the motion profile affect the energetic performance of the robot.


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