TY - GEN
T1 - Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint
AU - Yang, Xingyu
AU - Qiang, Dong
AU - Chen, Zixuan
AU - Wang, Hao
AU - Zhou, Zhengxue
AU - Zhang, Xuping
PY - 2022/5
Y1 - 2022/5
N2 - Collaborative robots are gradually taking over theleading position in automating the production andmanufacturing of the SMEs, where the human-robotcollaboration is highly emphasized. Therefore, estimating theforce and simulating the performance of robots are of greatimportance. As a newly introduced technology, digital twin, hasgained more attentions for simulation, process evaluation,real-time monitoring, etc. However, the current state-of-the-artof digital twin for robots still remains on the kinematic level,and the integrated robot system dynamics is too complex to beincorporated into the digital twin. Therefore, this researchstarts with the perspective of harmonic drive based robot joint,and proposes a dynamic model of robot joint by analyzing thecomposition, transmission principle, and internal interactions.Then the experimental parameter identification is performed toobtain the inherent parameters, which can reflect the systemperformance characteristics. Finally, a preliminary digital twinof robot joint integrated with dynamic model is established withGazebo and MATLAB. The proposed approach could be used tosimulate the dynamic behavior of robot joint in real time andmake contributions to the state of the art for digital twin.
AB - Collaborative robots are gradually taking over theleading position in automating the production andmanufacturing of the SMEs, where the human-robotcollaboration is highly emphasized. Therefore, estimating theforce and simulating the performance of robots are of greatimportance. As a newly introduced technology, digital twin, hasgained more attentions for simulation, process evaluation,real-time monitoring, etc. However, the current state-of-the-artof digital twin for robots still remains on the kinematic level,and the integrated robot system dynamics is too complex to beincorporated into the digital twin. Therefore, this researchstarts with the perspective of harmonic drive based robot joint,and proposes a dynamic model of robot joint by analyzing thecomposition, transmission principle, and internal interactions.Then the experimental parameter identification is performed toobtain the inherent parameters, which can reflect the systemperformance characteristics. Finally, a preliminary digital twinof robot joint integrated with dynamic model is established withGazebo and MATLAB. The proposed approach could be used tosimulate the dynamic behavior of robot joint in real time andmake contributions to the state of the art for digital twin.
KW - Collaborative Robot Joint
KW - Dynamic Modeling
KW - Harmonic Drive
KW - Parameter Identification
KW - Digital Twin
UR - http://www.scopus.com/inward/record.url?scp=85136333061&partnerID=8YFLogxK
U2 - 10.1109/ICRA46639.2022.9812458
DO - 10.1109/ICRA46639.2022.9812458
M3 - Article in proceedings
T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
SP - 4862
EP - 4868
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - IEEE
T2 - 2022 IEEE International Conference on Robotics and Automation (ICRA)
Y2 - 23 May 2022 through 27 May 2022
ER -