Patent ID: 8924017

Claim:
A multiple axis industrial robotics system comprising: a DC link; a plurality of motor control units connected to the DC link, and configured to transform direct voltage into alternating voltage; a plurality of motors configured to operate based on said alternating voltage, wherein said motors, at retardation, generate electric retardation energy which is returned to the DC link in the form of a voltage increase on said DC link; a robot control unit configured to control said motors; and an energy storage apparatus including, one of said motor control units, a brake unit in the form of one of said motors connected to said one of said motor control units, and a mechanical element mechanically connected to said brake unit, said mechanical element having a mass-moment of inertia, wherein said robot control unit is configured to detect said voltage increase and, in response to said voltage increase, accelerate said brake unit to accelerate said mechanical element, such that said electric retardation energy is stored as kinetic energy in said mechanical element.