Reducing energy consumption and processing time by smart robot-workpiece position planning in robotic manufacturing processes

In this entry data from measurements and certain model parameters are provided. The data were used in research presented in: https://doi.org/10.5281/zenodo.20305898 which is a paper by Kratena, et al., 'Reducing energy consumption and processing time by smart robot-workpiece position planning in robotic manufacturing processes' Model parameters (inertia matrixes and link mass values) for two robots used in the experiments are in the files param_robot_KUKA.m and param_robot_ABB.m. The test toolpath used for the comparison of the calculation time is listed in Test_Toolpath.cls. The toolpath used in the five-axis experiment is listed in 5ax_Toolpath.cls, while the toolpath used in the three-axis experiment in 3ax_Toolpath.cls. In the case of the five-axis experiment, measurements of joint velocities and actual Tool Center Point feed-rate in different configurations are in the files MEAS_velocity_Default.xml, ..., MEAS_velocity_Test_3.xml. The f1 variable is the actual feed-rate, while the f2–f8 variables are velocities of the individual joint axes of the robot. The files 5ax_Default.xls, ..., 5ax_Test_3.xls are measurements of the electric energy consumption for the different configurations studied. The files 3ax_Default_Weld_ON.csv and 3ax_Optimized_Weld_ON.csv are measurements of electric energy consumption for two tested configurations in the three-axis experiment with the welding process switched on. The files 3ax_Default_Weld_OFF.csv and 3ax_Opimized_Weld_OFF.csv are the measurements with the welding process switched off and the feed-rate increased.