Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018 |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE Computer Society |
| Pages | 239-243 |
| Number of pages | 5 |
| ISBN (electronic) | 9781509059492 |
| ISBN (print) | 9781509059492 |
| Publication status | Published - 27 Apr 2018 |
Publication series
| Name | Proceedings of the IEEE International Conference on Industrial Technology |
|---|---|
| Volume | 2018-February |
Abstract
This paper presents an approach to significantly improve modeling accuracy for the power and energy demands of industrial robots. This is achieved by taking the temperature dependency of the joint's viscuous friction parameters into account. While the connection is commonly known, it is usually neglected in state-of-the-art energy consumption models for industrial robots. This paper shows that a consideration of temperature-dependent friction provides significant improvement of energy modeling accuracy. The approach is validated on a test rig with a KUKA KR 16 robotic manipulator. Measurements show that the grid energy consumption modeling error can be reduced from up to 45 % to approx. 5 % over the whole spectrum of operating temperatures.
Keywords
- Energy Efficiency, Friction Modeling, Industrial Robotics, Robot Temperature
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
Sustainable Development Goals
Cite this
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Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018. Piscataway, NJ: IEEE Computer Society, 2018. p. 239-243 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2018-February).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Modeling and experimental validation of the influence of robot temperature on its energy consumption
AU - Eggers, Kai
AU - Knöchelmann, Elias
AU - Tappe, Svenja
AU - Ortmaier, Tobias
N1 - Funding information: ACKNOWLEDGMENT The presented research is funded by German Research Foundation (Deutsche Forschungsgemeinschaft/DFG).
PY - 2018/4/27
Y1 - 2018/4/27
N2 - This paper presents an approach to significantly improve modeling accuracy for the power and energy demands of industrial robots. This is achieved by taking the temperature dependency of the joint's viscuous friction parameters into account. While the connection is commonly known, it is usually neglected in state-of-the-art energy consumption models for industrial robots. This paper shows that a consideration of temperature-dependent friction provides significant improvement of energy modeling accuracy. The approach is validated on a test rig with a KUKA KR 16 robotic manipulator. Measurements show that the grid energy consumption modeling error can be reduced from up to 45 % to approx. 5 % over the whole spectrum of operating temperatures.
AB - This paper presents an approach to significantly improve modeling accuracy for the power and energy demands of industrial robots. This is achieved by taking the temperature dependency of the joint's viscuous friction parameters into account. While the connection is commonly known, it is usually neglected in state-of-the-art energy consumption models for industrial robots. This paper shows that a consideration of temperature-dependent friction provides significant improvement of energy modeling accuracy. The approach is validated on a test rig with a KUKA KR 16 robotic manipulator. Measurements show that the grid energy consumption modeling error can be reduced from up to 45 % to approx. 5 % over the whole spectrum of operating temperatures.
KW - Energy Efficiency
KW - Friction Modeling
KW - Industrial Robotics
KW - Robot Temperature
UR - http://www.scopus.com/inward/record.url?scp=85046936344&partnerID=8YFLogxK
U2 - 10.15488/10362
DO - 10.15488/10362
M3 - Conference contribution
SN - 9781509059492
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 239
EP - 243
BT - Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018
PB - IEEE Computer Society
CY - Piscataway, NJ
ER -