Abstract: An industrial robot, provided with a balancing cylinder, which serves as an aid to the motor for actuating an arm of the robot, which oscillates about a supporting structure. The balancing cylinder is supported in cantilever fashion by the aforesaid supporting structure by means of a single oscillating support, which defines an axis of oscillation perpendicular to the axis of the cylinder and is set on one side of the body of the balancing cylinder.

Abstract: In order to estimate power consumption, over a given time interval, of digital circuits described at the level of functional elements provided with input/output terminals associated additional elements are emulated at the hardware level. The said additional emulated elements are able to detect, during said time interval, at least one signal indicative of the behavior of the functional element associated during hardware emulation of the circuit. Preferably the number of transitions performed during the aforesaid time interval of the associated functional element is recorded, as well as the fraction of time in which the state of said functional element is stable. The value of said signals is acquired to perform an estimation of the power consumption of the functional element during the aforesaid time interval.