Nowadays the energy consumption control has become essential in robotic systems due to the growing demand for sustainable and efficient technologies. The thesis focuses on the development of a Real-Time algorithm designed to estimate the power consumption in robotic systems. The objective of the project is the improvement of the existing algorithm, enhancing its precision and ensuring its compatibility across multiple robot families. The research employes a combination of theoretical and practical approach aiming to obtain a reliable tool for monitoring and optimizing power usage during robotic operations. From the theoretical point of view the use of Matlab allows the study and validation of the algorithm behaviour on different robots across a range of different scenarios.