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A Feasible Method for Evaluating Energy Consumption of Industrial Robots
No full textEstablishing 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%
A Novel Composite Controller Design for Manipulator with Flexible Component under Time-varying Uncertainties and Disturbances
No full textThe paper studies the trajectory tracking problem of manipulator with flexible component under time-varying uncertainties and disturbances. An originality and novelty composite control method is developed for the manipulator with flexible component systems, which is targeted to reduce the effect of the disturbances on the systems and improve the tracking performance. The composite control method mainly consists of a robust continuous sliding mode control algorithm and a finite-time observer based control methodology. The robust continuous sliding mode control algorithm is designed to ensure the trajectory tracking dynamic response and normal disturbance rejection ability of the manipulator through the high frequency joint kinematics control channel. The finite-time observer based control methodology is designed to reduce the effect of the violent disturbance and improve the tracking performance through low frequency manipulator joint dynamics control channel. The stability analysis is guaranteed by Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed algorithm
