Abstract
This paper addresses the effects of electric power quality on robotic operations. A general overview is reported to highlight the main characteristics of electric power quality and it’s effects on a powered system by considering an end-user’s viewpoint. Then, the authors outline the influence of voltage dip effects by focusing on robotic grasping applications. A specific case study is reported, namely that of LARM Hand IV, a three-fingered robotic hand which has been designed and built at LARM in Cassino, Italy. A dedicated test rig has been developed and set up to generate predefined voltage dips. Experimental tests are carried out to evaluate the effects of different types of voltage dip on the grasping of objects.
Highlights
Nowadays, electronic equipment and computing devices are used in most types of industrial machines and robotic devices
In order to minimize these costs, it is critical for industrial customers to understand how power quality (PQ) can affect the operation of their systems and how it is possible to mitigate the effects of PQ disturbances [1,2,3]
We how voltage influence the of object while using paper,object we investigate how voltage dips influence the grasping of an object while using while using LARM Hand IV
Summary
Electronic equipment and computing devices are used in most types of industrial machines and robotic devices. The above-mentioned bodies have released the norm EN 50160 that defines the European and Italian standards for the PQ in terms of voltage dips and other voltage disturbances [4]. The detrimental effects of voltage dips can result both in the tripping of the protective devices with the equipment shut down and in the malfunction of a device The latter constitutes a sort of failure that determines a far from normal or satisfactory functionality. Robots certainly suffer for the presence of voltage dips in the supply voltage This is critical in the case of collaborative robots which are penetrating several new applications thanks to the publication of a collaborative robotics reference standard [8]. Experimental tests are carefully analysed and discussed to demonstrate the influence of the voltage dips on the grasping performance, as well as to propose some mitigation actions to avoid safety implications during the grasping
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