Physical Modelling of Energy Consumption of Industrial Articulated Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234212" target="_blank" >RIV/68407700:21230/15:00234212 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/67985556:_____/15:00448683

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ICCAS.2015.7364727" target="_blank" >http://dx.doi.org/10.1109/ICCAS.2015.7364727</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICCAS.2015.7364727" target="_blank" >10.1109/ICCAS.2015.7364727</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Physical Modelling of Energy Consumption of Industrial Articulated Robots

Popis výsledku v původním jazyce

The paper deals with a modelling of the energy consumption of industrial articulated robots. The proposed modelling way is based on graphically-oriented computer-aided concept that exploits CAD software Solidworks and simulation environment MATLAB/Simulink with SimMechanics and SimPowerSystems libraries. These software tools are used for the composition of a dynamical simulation model that represents both mechanical robot structure and robot drives during robot motions. The paper addresses mathematicalanalysis and interpretation of the considered simulation model. Here, equations of the motion for the mechanical robot structure and appropriate dynamical equations of the robot drives are introduced. Using these equations, the energy consumption equation is defined. The proposed way is demonstrated by simulation experiments for several different velocities of the robot motion along a selected trajectory. For the experiments, industrial articulated robot KUKA KR 5 arc driven by PMSM driv

Název v anglickém jazyce

Physical Modelling of Energy Consumption of Industrial Articulated Robots

Popis výsledku anglicky

The paper deals with a modelling of the energy consumption of industrial articulated robots. The proposed modelling way is based on graphically-oriented computer-aided concept that exploits CAD software Solidworks and simulation environment MATLAB/Simulink with SimMechanics and SimPowerSystems libraries. These software tools are used for the composition of a dynamical simulation model that represents both mechanical robot structure and robot drives during robot motions. The paper addresses mathematicalanalysis and interpretation of the considered simulation model. Here, equations of the motion for the mechanical robot structure and appropriate dynamical equations of the robot drives are introduced. Using these equations, the energy consumption equation is defined. The proposed way is demonstrated by simulation experiments for several different velocities of the robot motion along a selected trajectory. For the experiments, industrial articulated robot KUKA KR 5 arc driven by PMSM driv

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 15th International Conference on Control, Automation and Systems

ISBN

978-89-93215-09-0

ISSN

2093-7121

e-ISSN

—

Počet stran výsledku

6

Strana od-do

784-789

Název nakladatele

Institute of Control, Robotics and Systems (ICROS)

Místo vydání

Wonmi-gu, Gyeonggi-do

Místo konání akce

BEXCO, Busan

Datum konání akce

13. 10. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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