Multi-Domain Model for the Evaluation of Large Scale Robotic Applications within Production

Today, various methods for energy efficiency increase for industrial robot manipulators have been proposed. Among them, a path optimization or reuse of the recuperative energy can be found. Factories with high robot density typically have many robot applications that differ with load, path, standstill duration etc. Therefore, a cost effectiveness of the particular improvement type must be analyzed. In this paper, a multi-domain model for automated evaluation of large scale robot production is presented. The model facilitates the determination of energy consumption of the robotic applications of the given robot programs. It is an enabler, e.g., to select the optimal DC bus energy buffer depending on robot program or to compare an alternative trajectory profiles. Numerical results of the KUKA KR210-2 manipulator’s dynamic model show a maximum error rate of under 2%