Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint

Xingyu Yang; Dong Qiang; Zixuan Chen; Hao Wang; Zhengxue Zhou; Xuping Zhang

doi:10.1109/ICRA46639.2022.9812458

Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint

Xingyu Yang, Dong Qiang, Zixuan Chen, Hao Wang, Zhengxue Zhou, Xuping Zhang^*

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

9 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2022 IEEE International Conference on Robotics and Automation, ICRA 2022
Number of pages	7
Publisher	IEEE
Publication date	May 2022
Pages	4862-4868
ISBN (Electronic)	9781728196817
DOIs	https://doi.org/10.1109/ICRA46639.2022.9812458
Publication status	Published - May 2022
Event	2022 IEEE International Conference on Robotics and Automation (ICRA) - Philadelphia, Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 https://www.icra2022.org/

Conference

Conference	2022 IEEE International Conference on Robotics and Automation (ICRA)
Location	Philadelphia
Country/Territory	United States
City	Philadelphia
Period	23/05/2022 → 27/05/2022
Internet address	https://www.icra2022.org/

Series	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)

Keywords

Collaborative Robot Joint
Dynamic Modeling
Harmonic Drive
Parameter Identification
Digital Twin

Access to Document

10.1109/ICRA46639.2022.9812458

Cite this

@inproceedings{8e78f12f9eaa43d493dcf7278b74407f,

title = "Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint",

abstract = "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.",

keywords = "Collaborative Robot Joint, Dynamic Modeling, Harmonic Drive, Parameter Identification, Digital Twin",

author = "Xingyu Yang and Dong Qiang and Zixuan Chen and Hao Wang and Zhengxue Zhou and Xuping Zhang",

year = "2022",

month = may,

doi = "10.1109/ICRA46639.2022.9812458",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

pages = "4862--4868",

booktitle = "2022 IEEE International Conference on Robotics and Automation, ICRA 2022",

note = "2022 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 23-05-2022 Through 27-05-2022",

url = "https://www.icra2022.org/",

}

Yang, X, Qiang, D, Chen, Z, Wang, H, Zhou, Z & Zhang, X 2022, Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint. in 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), pp. 4862-4868, 2022 IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, United States, 23/05/2022. https://doi.org/10.1109/ICRA46639.2022.9812458

Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint. / Yang, Xingyu; Qiang, Dong; Chen, Zixuan et al.
2022 IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE, 2022. p. 4862-4868 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)).

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

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

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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 -

Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Integrating Human-Robot Collaboration into Danish SME Manufacturing and Production

Digital Twin with Integrated Robot-Human/Environment Interaction Dynamics for an Industrial Mobile Manipulator

Learning-based object detection and localization for a mobile robot manipulator in SME production

Cite this

Dynamic Modeling and Digital Twin of a Harmonic Drive Based Collaborative Robot Joint

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Projects

Integrating Human-Robot Collaboration into Danish SME Manufacturing and Production

Research output

Digital Twin with Integrated Robot-Human/Environment Interaction Dynamics for an Industrial Mobile Manipulator

Learning-based object detection and localization for a mobile robot manipulator in SME production

Cite this