Research on Elastic Deformation Modeling of Collaborative Robots
文献类型：会议论文
| 作者 | Pan XA(潘新安) ; Tian Y(田勇); Wang HG(王洪光); Hu MW(胡明伟)
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| 出版日期 | 2017 |
| 会议名称 | 2017 IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | December 5-8, 2017 |
| 会议地点 | Macau, China |
| 关键词 | Elastic deformation modeling Collaborative robots Stiffness matrix Positioning accuracy |
| 页码 | 2462-2467 |
| 通讯作者 | Hu MW(胡明伟) |
| 中文摘要 | To improve the positioning accuracy of collaborative robots, an elastic deformation modeling method of manipulator robots is proposed in this paper. This approach is able to consider flexibility of robot modules comprehensively, and can compensate the elastic deformation caused by external wrenches and the deadweight of the robot in addition to possessing advantages of low computational complexity, easy modification as well as high real-time. Firstly, stiffness matrices of each robot module with 36 degrees of freedom (DOFs) are obtained by using the finite element analysis. Then, the kinematic model of a robot is established which is adapted to stiffness modeling of robot modules, and the force condition can be achieved by the robot statics analysis with the deadweight in order to acquire the elastic deformation of module units, which will be used to compensate the positioning error resulted from manipulator compliance. Furthermore, the elastic deformation model is built by the differential transformation method, and can be used to compensate the positioning error. Lastly, the finite element simulation is carried out, and results of the simulation show the proposed modeling method is effective. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3741-8 |
| 源URL | [http://ir.sia.cn/handle/173321/21317]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Pan XA,Tian Y,Wang HG,et al. Research on Elastic Deformation Modeling of Collaborative Robots[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics. Macau, China. December 5-8, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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