0448683 20240103210851.120151023235959.9 84966312496 000382295200162 10.1109/ICCAS.2015.7364727 6 s. C cav_un_epca*0448682978-89-93215-09-02093-7121784-789BusanInstitute of Control, Robotics and Systems (ICROS)2015 Industrial articulated robots energy consumption mathematical analysis computer-aided modelling cav_un_auth*0320922 40 Othman A. CZ cav_un_auth*0101064 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems 40 Belda Květoslav UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0320923 20 Burget P. CZ K http://library.utia.cas.cz/separaty/2015/AS/belda-0448683.pdf The paper deals with a modelling of the energy consumption of industrial articulated robots. The proposed modelling way is based on graphically-oriented computer-aided concept that exploits CAD software Solidworks and simulation environment MATLAB/Simulink with SimMechanics and SimPowerSystems libraries. These software tools are used for the composition of a dynamical simulation model that represents both mechanical robot structure and robot drives during robot motions. The paper addresses mathematical analysis and interpretation of the considered simulation model. Here, equations of the motion for the mechanical robot structure and appropriate dynamical equations of the robot drives are introduced. Using these equations, the energy consumption equation is defined. The proposed way is demonstrated by simulation experiments for several different velocities of the robot motion along a selected trajectory. For the experiments, industrial articulated robot KUKA KR 5 arc driven by PMSM drives is considered. cav_un_auth*0320721 15th International Conference on Control, Automation and Systems (ICCAS 2015) 13.10.2015-16.10.2015 Busan KR JD 2016 3 PR RVO:67985556 http://hdl.handle.net/11104/0250642 cav_un_auth*0320924 Czech Technical University in Prague, Department of Control Engineering, Faculty of Electrical Engineering CTU FEE CZ S n.a. Proceedings Paper Automation Control Systems|Engineering Electrical Electronic 2015 84966312496 SCOPUS 000382295200162 WOS cav_un_epca*0448682 Proceedings of the 15th International Conference on Control, Automation and Systems (ICCAS 2015) 978-89-93215-09-0 2093-7121 784 789 Busan Institute of Control, Robotics and Systems (ICROS) 2015