Energy consumption parameter identification of industrial robots based on least squares method
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.
energy consumption modelleast squares methodindustrial robotparameter identificationparameter validation
万方数据
维普
