Publikationer pr. år
Publikationer pr. år
Abstract
To achieve real-time dynamic simulation analysis and optimization design, a dynamic digital twin of a nonholonomic mobile manipulator (one UR5e mounted on an industrial mobile robot MIR 200) has been developed in this paper. First, the digital twin integrated with dynamics of a mobile manipulator is established. The framework of the dynamic digital twin is presented in detail. Then, the dynamic model of the system has been established with the consideration of the physical interaction between the robot and humans/environments using Lagrange formulation. Finally, the experimental testing has been conducted to validate the dynamic model and evaluate the performances (such as real-time property, accuracy, etc.) of the dynamic digital twin that is integrated with the physical human/environment-robot interaction.
| Originalsprog | Engelsk |
|---|---|
| Tidsskrift | Proceedings - IEEE International Conference on Robotics and Automation (ICRA) |
| Sider (fra-til) | 5041-5047 |
| Antal sider | 7 |
| DOI | |
| Status | Udgivet - maj 2022 |
| Begivenhed | 2022 IEEE International Conference on Robotics and Automation (ICRA) - Philadelphia, Philadelphia, USA Varighed: 23 maj 2022 → 27 maj 2022 https://www.icra2022.org/ |
Konference
| Konference | 2022 IEEE International Conference on Robotics and Automation (ICRA) |
|---|---|
| Lokation | Philadelphia |
| Land/Område | USA |
| By | Philadelphia |
| Periode | 23/05/2022 → 27/05/2022 |
| Internetadresse |
Fingeraftryk
Dyk ned i forskningsemnerne om 'Digital Twin with Integrated Robot-Human/Environment Interaction Dynamics for an Industrial Mobile Manipulator'. Sammen danner de et unikt fingeraftryk.Projekter
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Integrating Human-Robot Collaboration into Danish SME Manufacturing and Production
Zhang, X. (PI) & Hørup, H. (PI)
Projekter: Projekt › Forskning
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Coupled dynamic modeling and experimental validation of a collaborative industrial mobile manipulator with human-robot interaction
Zhou, Z., Yang, X., Wang, H. & Zhang, X., okt. 2022, I: Mechanism and Machine Theory. 176, 19 s., 105025.Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avis › Tidsskriftartikel › Forskning › peer review
Åben adgangFil9 Citationer (Scopus)51 Downloads (Pure) -
Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint
Yang, X., Qiang, D., Chen, Z., Wang, H., Zhou, Z. & Zhang, X., maj 2022, 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE, s. 4862-4868 7 s. (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)).Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review
8 Citationer (Scopus) -
Interaction Dynamics and Control of Collaborative Industrial Mobile Robot Manipulators for SME Manufacturing
Zhou, Z., nov. 2022, Århus Universitet. 149 s.Publikation: Bog/antologi/afhandling/rapport › Ph.d.-afhandling