Electro-mechanical modeling and identification of the UR5 e-series robot
Enrico Clochiatti,
Lorenzo Scalera,
Paolo Boscariol
et al.
Abstract:Collaborative robotics is a field of growing industrial interest, within which understanding the energetic behavior of manipulators is essential. In this work, we present the electro-mechanical modeling of the UR5 e-series robot through the identification of its dynamics and electrical parameters. By means of the identified robot model, it is then possible to compute and optimize the energy consumption of the robot during prescribed trajectories. The proposed model is derived from data acquired from the robot … Show more
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