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Anticipating the maintenance needs of lightweight robotic manipulators at precise future instances represents a significant challenge within the automation domain. This letter introduces an innovative and comprehensive method to estimate the severity of stress imposed on a robot joint at any given time. Additionally, we present a knowledge-based predictive model aimed at approximating the End of Life (EoL) for a robotic joint, enabling the prediction of its Remaining Useful Life (RUL) with respect to the designated load case. This predictive model is rooted in a baseline derived from empirical data covering the entire Universal Robots (UR) e-series and is trained using synthetic data. Subsequently, it undergoes evaluation with a real-world dataset and is further validated in a case study. The model demonstrates a high level of accuracy, with worst-case performance reaching 90. 3\% as the lower limit.
Kolvig-Raun et al. (Wed,) studied this question.