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Collaborative industrial robots – strain-wave transmissions and adaptation to wear and temperature changes

PhD defence, Friday September 25, 2020. Emil Madsen.

2020.09.25 | Sunitha Satkunam

Emil Madsen

During his PhD studies, Emil Madsen has researched methods to improve the performance of collaborative industrial robots. Industrial robots are affected by mechanical wear and temperature changes. This causes uncertainties and disturbances to the mathematical models, which degrades the robot’s accuracy, precision, and safety. In this research, the performance of the robots has been improved by; 1) developing an accurate mathematical description of the flexibility of the robot joints as well as various frictional phenomena; and 2) designing an adaptive controller that allows the robot to monitor and evaluate its performance and use this information to adapt to changes. 

The new research findings contribute to the understanding of strain-wave transmissions as well as methods and algorithms for adapting to wear and temperature changes. The methods are implemented in collaborative industrial robots by Universal Robots as a software update, making this approach extremely valuable.

The PhD study was completed at the Department of Engineering, Faculty of Technical Sciences, Aarhus University.

This summary was prepared by the PhD student.

Time: Friday, September 25 at 13:00
Place: Will be held online. To receive a link to the event, please send an e-mail to Emil Madsen, ema@eng.au.dk 
Title of PhD thesis: Joint Dynamics and Adaptive Feedforward Control of Lightweight Industrial Robots
Contact information: Emil Madsen, e-mail: emil_madsen@hotmail.com, tel.: +45 20741573
Members of the assessment committee:
Professor Christian Schlette, Maersk Mc-Kinney Møller Institute, University of Southern Denmark, Denmark
Associate Professor Huapeng Wu, Laboratory of Mechanical Engineering, Lappeenranta University Technology, Finland
Associate Professor Søren Peder Madsen (chairman), Department of Engineering, Aarhus University, Denmark
Main supervisor:
Associate Professor Xuping Zhang, Department of Engineering, Aarhus University, Denmark
Co-supervisor:
Technology Officer, David Brandt, Universal Robots A/S, Denmark
Tech Lead Software, Oluf Skov Rosenlund, Universal Robots A/S, Denmark
Language: The PhD dissertation will be defended in English

The defence is public.

Due to the coronavirus situation, the PhD thesis will not be available for reading at the offices of the PhD administration. Instead, interested parties may send an e-mail to gradschool.tech@au.dk to receive a digital copy of the PhD thesis. Please note, it may in certain cases be necessary to make an individual arrangement to read the PhD thesis.

PhD defence
17427 / i43