Analysis of the energy consumption by an industrial robot for the angular movement of individual axes

The article presents a computer system for the measurement and recording of voltage waveforms and supply current of the Kawasaki industrial robot. The system was realized using specialized voltage and current transducers and a PC computer with a measuring card. Measurement tests were carried out using the implemented computer system. The voltage and supply current characteristics were recorded for one static state and six dynamic states of an industrial robot. In the static state, the motors of all axes were braked and the robot manipulator did not move. In dynamic states there was an angular motion of one selected axis, and the motors of the remaining axes were braked. An analysis of the electric energy consumption by the robot was performed with the angular displacement of individual axes for a given speed of motion.