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Physical Modelling of Energy Consumption of Industrial Articulated Robots
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SYSNO ASEP 0448683 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Physical Modelling of Energy Consumption of Industrial Articulated Robots Author(s) Othman, A. (CZ)
Belda, Květoslav (UTIA-B) RID, ORCID
Burget, P. (CZ)Number of authors 3 Source Title Proceedings of the 15th International Conference on Control, Automation and Systems (ICCAS 2015). - Busan : Institute of Control, Robotics and Systems (ICROS), 2015 - ISSN 2093-7121 - ISBN 978-89-93215-09-0 Pages s. 784-789 Number of pages 6 s. Publication form Medium - C Action 15th International Conference on Control, Automation and Systems (ICCAS 2015) Event date 13.10.2015-16.10.2015 VEvent location Busan Country KR - Korea, Republic of Event type WRD Language eng - English Country KR - Korea, Republic of Keywords Industrial articulated robots ; energy consumption ; mathematical analysis ; computer-aided modelling Subject RIV JD - Computer Applications, Robotics Institutional support UTIA-B - RVO:67985556 UT WOS 000382295200162 EID SCOPUS 84966312496 DOI 10.1109/ICCAS.2015.7364727 Annotation 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 mathematical analysis 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 drives is considered. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2016
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