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Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint
Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review
DOI
- https://doi.org/10.1109/ICRA46639.2022.9812458
Forlagets udgivne version
- Xingyu Yang
- Dong Qiang, Department of Electrical Engineering, City University of Hong Kong, Kina
- Zixuan Chen, Department of Electrical Engineering, City University of Hong Kong, Kina
- Hao Wang
- Zhengxue Zhou ,
- Xuping Zhang
Collaborative robots are gradually taking over the
leading position in automating the production and
manufacturing of the SMEs, where the human-robot
collaboration is highly emphasized. Therefore, estimating the
force and simulating the performance of robots are of great
importance. As a newly introduced technology, digital twin, has
gained more attentions for simulation, process evaluation,
real-time monitoring, etc. However, the current state-of-the-art
of digital twin for robots still remains on the kinematic level,
and the integrated robot system dynamics is too complex to be
incorporated into the digital twin. Therefore, this research
starts with the perspective of harmonic drive based robot joint,
and proposes a dynamic model of robot joint by analyzing the
composition, transmission principle, and internal interactions.
Then the experimental parameter identification is performed to
obtain the inherent parameters, which can reflect the system
performance characteristics. Finally, a preliminary digital twin
of robot joint integrated with dynamic model is established with
Gazebo and MATLAB. The proposed approach could be used to
simulate the dynamic behavior of robot joint in real time and
make contributions to the state of the art for digital twin.
leading position in automating the production and
manufacturing of the SMEs, where the human-robot
collaboration is highly emphasized. Therefore, estimating the
force and simulating the performance of robots are of great
importance. As a newly introduced technology, digital twin, has
gained more attentions for simulation, process evaluation,
real-time monitoring, etc. However, the current state-of-the-art
of digital twin for robots still remains on the kinematic level,
and the integrated robot system dynamics is too complex to be
incorporated into the digital twin. Therefore, this research
starts with the perspective of harmonic drive based robot joint,
and proposes a dynamic model of robot joint by analyzing the
composition, transmission principle, and internal interactions.
Then the experimental parameter identification is performed to
obtain the inherent parameters, which can reflect the system
performance characteristics. Finally, a preliminary digital twin
of robot joint integrated with dynamic model is established with
Gazebo and MATLAB. The proposed approach could be used to
simulate the dynamic behavior of robot joint in real time and
make contributions to the state of the art for digital twin.
| Originalsprog | Engelsk |
|---|---|
| Titel | 2022 IEEE International Conference on Robotics and Automation, ICRA 2022 |
| Antal sider | 7 |
| Forlag | IEEE |
| Udgivelsesår | maj 2022 |
| Sider | 4862-4868 |
| ISBN (Elektronisk) | 9781728196817 |
| 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 | USA |
| By | Philadelphia |
| Periode | 23/05/2022 → 27/05/2022 |
| Internetadresse |
| Serietitel | Proceedings - IEEE International Conference on Robotics and Automation (ICRA) |
|---|
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