Enrico Clochiatti, Lorenzo Scalera, P. Boscariol, Alessandro Gasparetto
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引用次数: 0
Abstract
Collaborative robotics is a field of growing industrial interest, within which understanding the energetic behavior of manipulators is essential. In this work, we present the electro-mechanical modeling of the UR5 e-series robot through the identification of its dynamics and electrical parameters. By means of the identified robot model, it is then possible to compute and optimize the energy consumption of the robot during prescribed trajectories. The proposed model is derived from data acquired from the robot controller during bespoke experimental tests, using model identification procedures and datasheet provided by manipulator, motors, and gearbox manufacturers. The entire procedure does not require the use of any additional sensor, so it can be easily replicated with an off-the-shelf manipulator, and applied to other robots of the same family.
协作机器人技术是一个日益受到工业界关注的领域，其中了解机械手的能量行为至关重要。在这项工作中，我们通过识别 UR5 e 系列机器人的动态和电气参数，对其进行了机电建模。通过识别的机器人模型，可以计算和优化机器人在规定轨迹上的能耗。所建议的模型是根据机器人控制器在定制实验测试中获取的数据，利用机械手、电机和变速箱制造商提供的模型识别程序和数据表得出的。整个过程不需要使用任何额外的传感器，因此可以很容易地使用现成的机械手进行复制，并应用于相同系列的其他机器人。
期刊介绍：
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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