A Feasible Method for Evaluating Energy Consumption of Industrial Robots
文献类型：期刊论文
| 作者 | Qiu, Binquan; Chen, Silu; Xiao, Tao; Gu, Yingkui; Zhang, Chi; Yang, Guilin |
| 刊名 | PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021)
 |
| 出版日期 | 2021 |
| 页码 | 1073-1078 |
| 英文摘要 | Establishing energy consumption models is important to achieve green manufacturing for robot automatic lines. To deal with the practical issue that the joint torque are difficult to be acquired in industrial robots, this paper aims to build dynamics model of robots from the motor torque to the robot motion. The Newton-Euler method is used to construct the model in linearin-parameter form. In addition, as the conventional excitation signals, such as sine sweep and pseudo random binary signal, are not applicable for robots with closed control architectures, this paper proposes a method to use robot built-in point-to-point motion trajectory for the system identification. In this way, the parameters in the dynamics model are identified by linear least square. Eventually, energy consumption model can be formed. Simulation and experiments are conducted on a KUKA KR60-3 robot to verify the effectiveness of the proposed method. By experiment, the accuracy of prediction of energy consumption is as high as 90.54%. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/22306]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2021专题_期刊论文 |
| 作者单位 | Chen, SL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Prov Key Lab Robot & Intelligent Mfg Equ, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Qiu, Binquan,Chen, Silu,Xiao, Tao,et al. A Feasible Method for Evaluating Energy Consumption of Industrial Robots[J]. PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021),2021:1073-1078. |
| APA | Qiu, Binquan,Chen, Silu,Xiao, Tao,Gu, Yingkui,Zhang, Chi,&Yang, Guilin.(2021).A Feasible Method for Evaluating Energy Consumption of Industrial Robots.PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021),1073-1078. |
| MLA | Qiu, Binquan,et al."A Feasible Method for Evaluating Energy Consumption of Industrial Robots".PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021) (2021):1073-1078. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。