关键词: 工业机器人, 能耗预测, 运动轨迹, 元动作

Abstract: Aiming at the defects of complex models, cumbersome operation and high cost of traditional energy consumption prediction methods for industrial robots, a meta-action-based energy consumption prediction method for industrial robots was proposed from the perspective of motion trajectory and action mode of end-effector. First, the meta-actions and energy consumption characteristics of static operations and dynamic operations of industrial robots were analyzed in the first place, and the energy consumption function of static meta-action and dynamic meta-action like axial motion and rotation et al, were built. Then, the motions of the target processes were disassembled based on the proposed meta-action library and the energy sonsumption calculation model of each meta-motion was built. Finally, energy consumption of industrial robots at target processes was realized by combining the energy consumption functions and calculation models. By applying the proposed method, the energy consumption prediction may be realized by disassembling operation processes as long as the energy consumption function of each meta-action was established by measuring meta-action power in advance, so the method has broad application prospects.

Key words:  , industrial robot, energy consumption prediction, motion path, meta-motion