Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator

In this paper a preliminary analysis of the energetic performance of an industrial manipulator is presented. In particular, the paper investigates the effects of the trajectory planning on the overall energy consumption of the manipulator in a pick & place task, focusing also on the location of the path within the workspace. An electro-mechanical model of the actuators and the inverse dynamic model of the robot have been developed and used to estimate the robot energy consumption when executing a basic motion task. Results are then collected into energy consumption maps, showing how the location of the task within the robot workspace affects the energetic performance of the robot.