Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots Article Swipe
Andrea Raviola
,
Roberto Guida
,
Andrea De Martin
,
Stefano Pastorelli
,
Stefano Mauro
,
Massimo Sorli
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/robotics10030083
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/robotics10030083
Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling.
Related Topics
Concepts
Robot
Control theory (sociology)
Identification (biology)
Torque
Trajectory
Set (abstract data type)
Process (computing)
Control engineering
Computer science
Engineering
Simulation
Artificial intelligence
Control (management)
Physics
Botany
Astronomy
Programming language
Biology
Thermodynamics
Operating system
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/robotics10030083
- https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394
- OA Status
- gold
- Cited By
- 30
- References
- 48
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3176104200
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3176104200Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/robotics10030083Digital Object Identifier
- Title
-
Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial RobotsWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-06-29Full publication date if available
- Authors
-
Andrea Raviola, Roberto Guida, Andrea De Martin, Stefano Pastorelli, Stefano Mauro, Massimo SorliList of authors in order
- Landing page
-
https://doi.org/10.3390/robotics10030083Publisher landing page
- PDF URL
-
https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
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https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394Direct OA link when available
- Concepts
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Robot, Control theory (sociology), Identification (biology), Torque, Trajectory, Set (abstract data type), Process (computing), Control engineering, Computer science, Engineering, Simulation, Artificial intelligence, Control (management), Physics, Botany, Astronomy, Programming language, Biology, Thermodynamics, Operating systemTop concepts (fields/topics) attached by OpenAlex
- Cited by
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30Total citation count in OpenAlex
- Citations by year (recent)
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2025: 7, 2024: 8, 2023: 5, 2022: 10Per-year citation counts (last 5 years)
- References (count)
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48Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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