Dynamic Identification of the KUKA LBR iiwa Robot With Retrieval of Physical Parameters Using Global Optimization

Xu, Tian; Fan, Jizhuang; Chen, Yiwen; Ng, Xinyi; Ang, Marcelo H.; Fang, Qianqian; Zhu, Yanhe; Zhao, Jie

doi:10.1109/access.2020.3000997

Cited by 27 publications

(14 citation statements)

References 40 publications

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“…As a world-class provider of intelligent automation solutions. In areas such as automotive, electronics, metal & plastic, consumer products, e-commerce/retail, and healthcare, KUKA provides everything from a single source: from robots and cells to completely automated systems and their networking [45].…”

Section: Applications Of Fourth Industrial Revolutionmentioning

confidence: 99%

“…Another application of industry 4.0 in the medical sector, automation solutions for greater efficiency in hospitals, in areas of diagnosis and surgery to therapy, KUKA robots meet the stringent requirements of the medical sector and are well-suited to a wide range of medical technology applications. For this, KUKA offers a wide range of medical high-tech products, ranging from robot-based help systems for surgery to assistive components for diagnosis or rehabilitation [45].…”

Section: Applications Of Fourth Industrial Revolutionmentioning

confidence: 99%

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Industry 4.0 and Its Implications: Concept, Opportunities, and Future Directions

Abdelmajied¹

2022

Supply Chain - Recent Advances and New Perspectives in the Industry 4.0 Era

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This chapter aims to analyze the Industry 4.0 framework, identify the definition and drivers of the Industry 4.0 paradigm, discuss its potential effect, and determine obstacles of the Industry 4.0. For the research methodology, a critical literature review is performed, we relied on the recent studies related to industry 4.0. Findings – This study concluded that Industry 4.0 describes a future production system’s vision; it is an inevitable revolution and radical change, covering a wide range of innovative technologies, and all sectors. Industry 4.0 brings significant advantages to organizations, including real-time data analysis, increased visibility, autonomous monitoring, enhanced productivity, and competitiveness. The key features of Industry 4.0 are collaboration and integration of schemes, both horizontal and vertical. Innovation performs an essential role in organizations, sectors, countries. Industry 4.0 has enormous potential effect in many areas, and its application will have an impact across transforming the work environment. Industry 4.0 leads to potentials in three dimensions of sustainability. The KUKA corporation is an application for industry 4.0, for instance, smart factories, M-2-M, intelligent robots, etc., these technologies help industry 4.0 to separate rapidly. In contrast, there are some barriers, to implementing Industry 4.0 for example financial constraints, technical competency, organizational restraints.

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Section: Applications Of Fourth Industrial Revolutionmentioning

confidence: 99%

Section: Applications Of Fourth Industrial Revolutionmentioning

confidence: 99%

Industry 4.0 and Its Implications: Concept, Opportunities, and Future Directions

Abdelmajied¹

2022

Supply Chain - Recent Advances and New Perspectives in the Industry 4.0 Era

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show abstract

“…Generally, there are two ways to obtain the robot inertial parameters: one is identification methods [ 33 ], and the other is CAD measurement. Since we have the 3D model of the robot, we obtain the joint mass and inertia parameters of the handling robot through CAD measurement, as shown in Table 3 .…”

Section: Robot Modelling and Controlmentioning

confidence: 99%

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Liu

Chen

Song

et al. 2021

Sensors

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The development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.

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“…According to the Newton-Euler method [23], the relationship between the motion and the driving force (or driving torque) of industrial robots can be described through the following dynamic equations:…”

Section: Analysis Of Deformation At Jointsmentioning

confidence: 99%

Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling

Gao

Liu

2020

Complexity

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Insufficient stiffness of industrial robots is a significant factor which affects its positioning accuracy. To improve the positioning accuracy, a novel positioning error compensation method based on the stiffness modelling is proposed in this paper. First, the positioning errors considering the end load and gravity of industrial robots due to stiffness are analyzed. Based on the results of analysis, it is found that the positioning errors can be described by two kinds of deformation errors at joints: the axial deformation error and the radial deformation error. Then, the axial deformation error is modelled by the differential relationship of kinematics equations. The model of radial deformation error is deduced through the recurrence method and rotation transformation between joints. Finally, these two models are transformed into a Cartesian coordinate system, and a positioning error compensation method based on these two models is presented. Simulations based on the finite element analysis are implemented to verify the positioning error compensation method. The results show that the suggested method can efficiently predict the positioning error according to the gravity and loads, so that the positioning accuracy of industrial robots can be improved with the proposed method.

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Dynamic Identification of the KUKA LBR iiwa Robot With Retrieval of Physical Parameters Using Global Optimization

Cited by 27 publications

References 40 publications

Industry 4.0 and Its Implications: Concept, Opportunities, and Future Directions

Industry 4.0 and Its Implications: Concept, Opportunities, and Future Directions

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling

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