Formula for Kinetic Energy of 6DOF robot like ur5

I need to calculate energy consumed by a 6DOF robot like ur5 through simulation. I have the angular velocities, positions and angular acceleration of each joint through inverse kinematics. Now I want to calculate the Kinetic Energy but I am unable to find a specific equation for Kinetic Energy where I can put these values.

[Sam Chak]

@Ebrahim, Which robot textbooks are you reading? Find out the formulas and post them here so that we can advise how to implement them in MATLAB. By the way, isn't it true that the Kinetic Energy has something to do with the quadratic function of velocity or the angular velocity?

[Ebrahim]

I want to find out the formula. For a ur5 robot we will have to know the moment of inertia of each part and angular velocity of each link with respect to the base. So that becomes very complex. If you know a research paper where someone has already calculated it, it would be really helpful.

Answer 1

[Vidip Jain]

To calculate the kinetic energy of a 6DOF robot like UR5, you can use the following equation:

KE = 1/2 * m * v^2

where KE is the kinetic energy, m is the mass of the robot and v is the velocity of the robot.

To calculate the velocity of the robot, you can use the following equation:

v = sqrt(vx^2 + vy^2 + vz^2)

where ‘vx’, ‘vy’ and ‘vz’ are the linear velocities of the robot in the x, y and z directions respectively.

Finally, you can use the inverse dynamics of the robot to calculate the joint torques and then multiply them by the joint velocities to obtain the power consumption of the robot.

There are several research papers available that have calculated the joint torques for UR5 using inverse dynamics. Such paper are:

• "Inverse Dynamics Analysis and Control of Universal Robots UR5" by Y. Zhang et al.
• "Inverse Dynamics for the UR5 Robot using Recursive Newton-Euler Algorithm" by A. Tully and C. L. Morgan
• "Dynamic Modelling and Simulation of UR5 Robot for Trajectory Control" by S. M. R. Islam and M. Z. Islam