Torque-based methodology and experimental implementation for industrial robot standby pose optimization

This manuscript reports on a novel methodology and experimental implementation for industrial robot standby pose optimization. First, we analyze the influence of the standby pose of robots in the reduction of their useful life by conducting a preliminary study in an automotive assembly line. Afterwards, we propose a novel methodology to optimize the standby pose of industrial robots by minimizing the torque applied in the joints. The results show that the methodology can reduce by 31.37% the average torque applied by a 200-kg-payload, 6 degree-of-freedom industrial robot in normal production conditions. In addition, we demonstrate that the methodology is robot model and tool invariant, by implementing the presented solution in a Kuka KR3 and two ABB IRB 6400r robots with different tools. The benefits of optimizing the standby pose of industrial robots in manufacturing assembly lines are twofold. First, it reduces the stress and temperature of the joints, increasing the remaining useful life. Second, it offers the possibility of substantially reducing the energy consumption of the production line, as the time spent by industrial robots in a standby pose can reach up to 80% of their total operational time.