ENERGY MODELLING AND SIMULATION FOR INDUSTRIAL ROBOTS

This thesis explores energy modelling and simulation techniques tailored for industrial robots, with a primary objective of advancing energy efficiency. Focusing on the ABB-IRB-140 robot, the study utilizes MATLAB to develop comprehensive energy models for three distinct motions. The research unfolds through various objectives, including formulating kinematics, developing motion planning algorithms, conducting simulations, and constructing energy consumption models for individual robot joints. A pivotal aspect of this research lies in the development of a robust motion planning algorithm, recognized as a fundamental pillar that underpins the entire endeavour. This algorithm serves as a critical mechanism for optimizing energy efficiency and seamlessly integrating energy modelling techniques into real-world industrial applications. While MATLAB customization caters to specific robot characteristics, the developed algorithm boasts versatility, enabling its adaptation across a spectrum of industrial contexts and robot configurations. By elucidating the intricate relationship between motion planning and energy consumption in industrial robots, this research contributes to a deeper understanding of energy dynamics within the industrial landscape. Moreover, the insights gleaned hold the promise of significant advancements in energy-efficient robotics, fostering sustainable practices and mitigating the environmental impact associated with industrial operations. Ultimately, this thesis represents a crucial step forward in the quest for energy optimization, highlighting the transformative potential of interdisciplinary research at the nexus of engineering and sustainability.