Industrial robots are widely used in intelligent manufacturing,leading to unreasonable use of energy consumption.En-ergy conservation can have a positive impact on"dual carbon".However,there are few simple and widely used methods for pre-dicting robot energy consumption.Building an energy consumption system testing platform consisting of KUKA KR60-3 robot,cur-rent clamp,power meter,PAC3200 data acquisition,etc.We propose to establish a robot energy consumption model based on me-chanical components,servo motors,drive systems,peripheral components,etc.,by using Fourier series as the excitation trajectory,and PAC3200 for data collection.Based on the least squares method for energy consumption parameter identification,the results show that the identified parameters under this model meet the error requirements between predicted and actual measured energy consumption,providing a reference for energy consumption optimization of industrial robots.
关键词
能耗模型/最小二乘法/工业机器人/参数辨识/参数验证
Key words
energy consumption model/least squares method/industrial robot/parameter identification/parameter validation
维普
万方数据