{"id":"https://openalex.org/W4406689823","doi":"https://doi.org/10.1109/tro.2025.3532509","title":"Industrial Robots Energy Consumption Modeling, Identification and Optimization Through Time-Scaling","display_name":"Industrial Robots Energy Consumption Modeling, Identification and Optimization Through Time-Scaling","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406689823","doi":"https://doi.org/10.1109/tro.2025.3532509"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3532509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3532509","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038911046","display_name":"Zuoxue Wang","orcid":"https://orcid.org/0000-0002-2045-6115"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zuoxue Wang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-2045-6115","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045294158","display_name":"Pei Jiang","orcid":"https://orcid.org/0000-0003-3471-4151"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Jiang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0003-3471-4151","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034415219","display_name":"Xiaobin Li","orcid":"https://orcid.org/0000-0002-8145-851X"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobin Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8145-851X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090973579","display_name":"Huajun Cao","orcid":"https://orcid.org/0000-0001-6617-0473"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huajun Cao","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0001-6617-0473","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062473662","display_name":"Xi Vincent Wang","orcid":"https://orcid.org/0000-0001-9694-0483"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Xi Vincent Wang","raw_affiliation_strings":["Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-9694-0483","affiliations":[{"raw_affiliation_string":"Department of Production Engineering, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775818","display_name":"Xiangfei Li","orcid":"https://orcid.org/0000-0002-0967-7179"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangfei Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0967-7179","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041969609","display_name":"Min Cheng","orcid":"https://orcid.org/0000-0002-8345-6657"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Cheng","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-8345-6657","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5038911046"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":3.3003,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90653783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"1456","last_page":"1475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10763","display_name":"Digital Transformation in Industry","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.7342122197151184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6607425212860107},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6189738512039185},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5902109742164612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5611516237258911},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.46423807740211487},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4149616062641144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.342827171087265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2859252095222473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11955243349075317}],"concepts":[{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.7342122197151184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6607425212860107},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6189738512039185},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5902109742164612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5611516237258911},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.46423807740211487},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4149616062641144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.342827171087265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2859252095222473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11955243349075317},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3532509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3532509","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1053370755","display_name":null,"funder_award_id":"2023CDJKYJH-101","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4920250619","display_name":null,"funder_award_id":"2024CDJZCQ-004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6263982406","display_name":null,"funder_award_id":"52075060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8291132204","display_name":null,"funder_award_id":"52475511","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1971317756","https://openalex.org/W1978244126","https://openalex.org/W1985053256","https://openalex.org/W1989935894","https://openalex.org/W2001524797","https://openalex.org/W2001561258","https://openalex.org/W2011911028","https://openalex.org/W2083878885","https://openalex.org/W2141522820","https://openalex.org/W2156708479","https://openalex.org/W2491447317","https://openalex.org/W2494667057","https://openalex.org/W2538324982","https://openalex.org/W2580331303","https://openalex.org/W2896802829","https://openalex.org/W2898417639","https://openalex.org/W2909980903","https://openalex.org/W2911237500","https://openalex.org/W2962700304","https://openalex.org/W2973723791","https://openalex.org/W3017386143","https://openalex.org/W3036353854","https://openalex.org/W3090546543","https://openalex.org/W3105381321","https://openalex.org/W3129482276","https://openalex.org/W3134317310","https://openalex.org/W3138455672","https://openalex.org/W3172908897","https://openalex.org/W3175789057","https://openalex.org/W3207630770","https://openalex.org/W3207707396","https://openalex.org/W4212993737","https://openalex.org/W4221082623","https://openalex.org/W4229706427","https://openalex.org/W4246923680","https://openalex.org/W4281610198","https://openalex.org/W4281925108","https://openalex.org/W4296772126","https://openalex.org/W4385371079"],"related_works":["https://openalex.org/W4214628662","https://openalex.org/W4297745244","https://openalex.org/W2037518538","https://openalex.org/W2156822401","https://openalex.org/W3092380670","https://openalex.org/W3125847301","https://openalex.org/W4313390786","https://openalex.org/W2089393798","https://openalex.org/W2356819012","https://openalex.org/W4244907930"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"(IRs)":[2],"have":[3],"considerable":[4],"energy-saving":[5],"potential":[6],"due":[7],"to":[8,92,200],"their":[9,47],"vast":[10],"application":[11],"scale":[12],"and":[13,42,65,73,183,206],"wide":[14],"range":[15],"of":[16,27,37,46,119,123,173,179],"applications.":[17],"Although":[18],"substantial":[19],"work":[20],"on":[21,69,116,159],"the":[22,38,43,70,94,109,117,128,139,150,154,160,165,177,190,196,202],"energy":[23,87],"consumption":[24],"(EC)":[25],"optimization":[26,32,66,155,192],"IRs":[28],"has":[29],"emerged,":[30],"most":[31],"approaches":[33],"require":[34],"prior":[35],"knowledge":[36],"IRs'":[39],"dynamic":[40,134],"characteristics":[41],"electro-mechanical":[44],"parameters":[45],"drive":[48],"systems,":[49],"which":[50],"are":[51],"typically":[52],"not":[53],"provided":[54],"by":[55],"IR":[56],"manufacturers.":[57],"Therefore,":[58],"this":[59,83],"article":[60,84],"proposes":[61],"an":[62,86,169],"EC":[63,95,130,178],"modeling":[64],"method":[67,167,193],"based":[68,115],"time-scaling":[71],"technique":[72],"custom":[74],"identification":[75,124],"experimental":[76],"data":[77,118],"without":[78],"joint":[79],"torque":[80],"information.":[81],"Specifically,":[82],"develops":[85],"characteristic":[88],"parameter":[89],"submodel":[90],"(ECPSM)":[91],"formulate":[93],"resulting":[96],"from":[97],"configuration":[98],"transitions.":[99],"In":[100],"addition,":[101],"theoretical":[102],"proof":[103],"demonstrates":[104],"that":[105,164],"all":[106],"coefficients":[107],"in":[108],"proposed":[110,129,166],"ECPSM":[111],"can":[112],"be":[113],"identified":[114],"a":[120,132],"finite":[121],"number":[122],"experiments.":[125],"Building":[126],"upon":[127],"model,":[131],"bidirectional":[133],"programming":[135],"(BDP)":[136],"algorithm":[137],"optimizes":[138],"IR's":[140],"trajectory":[141,205],"for":[142,153,175,185],"energy-saving,":[143],"while":[144],"utilizing":[145],"parallel":[146],"processing":[147],"significantly":[148],"reduces":[149,195],"time":[151,198],"required":[152,199],"process.":[156],"Experimental":[157],"results":[158],"KUKA":[161],"KR60-3":[162],"demonstrate":[163],"achieves":[168],"average":[170],"relative":[171],"error":[172],"1.59%":[174],"predicting":[176],"linear":[180],"scaling":[181,204],"trajectories":[182],"6.19%":[184],"nonlinear":[186],"scaled":[187],"trajectories.":[188],"Moreover,":[189],"BDP-based":[191],"dramatically":[194],"computational":[197],"obtain":[201],"optimal":[203],"its":[207],"EC.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}