{"id":"https://openalex.org/W4403919906","doi":"https://doi.org/10.1109/ro-man60168.2024.10731263","title":"On Experimental Energy Consumption Estimation of a 6-DoF Industrial UR3e Robot Arm Manipulator in Trajectory Planning","display_name":"On Experimental Energy Consumption Estimation of a 6-DoF Industrial UR3e Robot Arm Manipulator in Trajectory Planning","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4403919906","doi":"https://doi.org/10.1109/ro-man60168.2024.10731263"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man60168.2024.10731263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020497922","display_name":"Sara Hosseini","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sara Hosseini","raw_affiliation_strings":["University of Erlangen-Nuremberg (FAU),Institute of Electrical Drives and Machines,Erlangen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Erlangen-Nuremberg (FAU),Institute of Electrical Drives and Machines,Erlangen,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058038554","display_name":"Ingo Hahn","orcid":"https://orcid.org/0000-0002-1575-4556"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ingo Hahn","raw_affiliation_strings":["University of Erlangen-Nuremberg (FAU),Institute of Electrical Drives and Machines,Erlangen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Erlangen-Nuremberg (FAU),Institute of Electrical Drives and Machines,Erlangen,Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2913,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57744138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1430","last_page":"1435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13344","display_name":"Industrial Automation and Control Systems","score":0.9366999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13344","display_name":"Industrial Automation and Control Systems","score":0.9366999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7669773101806641},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6958378553390503},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6114981770515442},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5952324867248535},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5542781949043274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5278261303901672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5176501870155334},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4800754189491272},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4788667857646942},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.46382275223731995},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.437553346157074},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4282350540161133},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4155111014842987},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40047937631607056},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3164615035057068},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30124902725219727},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22086173295974731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18877512216567993},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1206827163696289},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07727691531181335}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7669773101806641},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6958378553390503},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6114981770515442},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5952324867248535},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5542781949043274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5278261303901672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5176501870155334},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4800754189491272},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4788667857646942},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.46382275223731995},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.437553346157074},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4282350540161133},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4155111014842987},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40047937631607056},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3164615035057068},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30124902725219727},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22086173295974731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18877512216567993},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1206827163696289},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07727691531181335},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man60168.2024.10731263","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W187146046","https://openalex.org/W854839105","https://openalex.org/W2068190491","https://openalex.org/W2072689325","https://openalex.org/W2141392918","https://openalex.org/W2613614720","https://openalex.org/W2910295286","https://openalex.org/W3017143504"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2724068543","https://openalex.org/W1995224181","https://openalex.org/W577644862","https://openalex.org/W4401027239","https://openalex.org/W2159353126"],"abstract_inverted_index":{"This":[0,175],"paper":[1,140],"proposes":[2],"an":[3,13,47,166],"energy":[4,69,134,145,217],"consumption":[5,70],"estimation":[6],"in":[7,43,61,147,152,207,219],"the":[8,62,68,102,114,132,144,162,183,190,203,214,220,225,230,233],"trajectory":[9,41,149,222],"planning":[10,42,150],"task":[11,151],"of":[12,30,56,71,107,138,161,196,202,216,224,232],"industrial":[14],"robot":[15,58,74,97,110,205,226],"(IR)":[16],"arm":[17,98,111,206],"manipulator.":[18],"Human-robot":[19],"collaborative":[20],"scheduling":[21,29],"has":[22],"become":[23],"integral":[24],"to":[25,66,82,130,142],"modern":[26],"manufacturing.":[27],"Effective":[28],"human-robot":[31,44,88],"cooperation":[32],"is":[33,118,127,141,177],"crucial":[34],"for":[35,155],"enhancing":[36],"production":[37],"efficiency.":[38],"However,":[39,76],"energy-efficient":[40],"interaction":[45],"remains":[46],"unexplored":[48],"area.":[49],"To":[50],"address":[51],"this,":[52],"a":[53,87,90,108,148,156,172,208],"6-DoF":[54,109],"(Degree":[55],"Freedom)":[57],"arm,":[59],"available":[60],"laboratory,":[63],"was":[64],"utilized":[65],"assess":[67],"this":[72,100,139],"specific":[73],"type.":[75],"his":[77],"approach":[78],"can":[79],"be":[80],"applied":[81],"any":[83,94],"robot,":[84,92,163],"whether":[85],"it\u2019s":[86],"collaboration,":[89],"mobile":[91],"or":[93],"other":[95],"articulated":[96],"manipulator.For":[99],"goal":[101,176],"electrical":[103],"and":[104,120,169,181,185,192,228,235],"mechanical":[105],"losses":[106,123,146,218],"manipulator":[112,227],"from":[113,165],"company":[115],"Universal":[116],"Robots":[117],"modeled":[119],"its":[121],"power":[122],"cost":[124],"function":[125],"(PLCF)":[126],"derived":[128],"correspondingly":[129],"calculate":[131],"electromechanical":[133],"losses.":[135],"The":[136,211],"objective":[137],"estimate":[143,213],"cartesian":[153],"space":[154],"tool":[157],"center":[158],"point":[159,168],"(TCP)":[160],"starting":[164],"initial":[167],"resting":[170],"at":[171,199],"final":[173],"point.":[174],"achieved":[178],"by":[179,188],"examining":[180],"analyzing":[182],"kinematics":[184],"dynamics":[186],"followed":[187],"measuring":[189],"velocity":[191],"acceleration":[193],"related":[194],"terms":[195],"each":[197,200],"motor":[198],"joint":[201],"UR3e":[204],"laboratory":[209],"setup.":[210],"results":[212,231],"changes":[215],"overall":[221],"following":[223],"presents":[229],"estimated":[234],"measured":[236],"reduction":[237],"terms.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}