The invention belongs to the related technical field of milling, and discloses a
robot milling feeding direction optimization method based on energy optimization. The method comprises the following steps: S1, for a to-be-milled workpiece, a
processing track of the to-be-milled workpiece in a Cartesian space is planned; S2, the
machining process of the workpiece to be milled is divided into a tool falling stage, a milling stage and a tool lifting stage, a dynamic model of a milling
robot and a milling force model under a
robot coordinate
system are constructed, and robot joint torque and joint speed corresponding to each stage are solved and obtained accordingly; and S3, an
energy consumption relational expression of each stage is constructed, a
total energy consumption optimization model of the whole
machining process is constructed according to the
energy consumption relational expression, the corresponding feeding direction under the condition of the minimum
energy consumption is solved, the optimal feeding direction is obtained accordingly, and then optimization of the feeding direction under the condition of the optimal energy is achieved. According to the method, the energy consumption is reduced, the
processing cost is reduced, the joint
impact can be reduced, the milling quality is improved, and the service life of the robot is prolonged.