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Industrial robots consume a considerable amount of energy in the manufacturing industry. As sustainable manufacturing is one of the directions of manufacturing, the energy efficiency of the industrial robots should be considered. The energy consumption model is the key to analyze and improve the energy efficiency of industrial robots. This article focuses on the energy consumption characteristic analysis and energy consumption modeling of the industrial robot. The inertial and friction parameters which are the base of energy consumption modeling need to be identified. Since the torque which is usually used for parameter identification may be unavailable, we propose to use the software-simulated power data to perform the parameter identification and model the energy consumption of the robot. Then, comprehensive simulations are carried out to verify the effectiveness of the proposed method for parameter identification and the energy consumption model. The relation between the speed of the robot and its energy consumption is also analyzed.

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