Research the Potential for Energy Saving and Maximizing Productivity in Rectilinear Transitions of a Collaborative Robot

摘要

Since for collaborative robotic technological processes the most important indicators of operational efficiency, in addition to the degree of safety, are productivity and energy efficiency, this article presents an algorithm for calculating energy costs and execution time of the simplest technological operation - linear movement of the tool center point (TCP) depending on the choice linear speed change graph profile. To demonstrate the effectiveness of the proposed practical solutions, the work presents an example of modeling the implementation of a KUKA LBR iiwa 7 R800 collaborative robot for rectilinear movement of TCP from one point to another in the MATLAB environment. The simulation results showed significant potential for energy savings and increased productivity, both for a selected range of robot configurations and in the space of all possible configurations in relation to LIN-type technological movements within a collaborative process.