Optimal synthesis of pose repeatability for collaborative robots based on the ISO 9283 standard
文献类型：期刊论文
| 作者 | Hu MW(胡明伟)1,2 ; Wang HG(王洪光)2; Pan XA(潘新安)2; Tian Y(田勇)1,2
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| 刊名 | Industrial Robot
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| 出版日期 | 2019 |
| 页码 | 1-7 |
| 关键词 | Collaborative robots Motion accuracy Optimal synthesis Pose repeatability |
| ISSN号 | 0143-991X |
| 产权排序 | 1 |
| 英文摘要 | Purpose: The purpose of this paper is to search the optimal arrangement scheme of random motion accuracy of joints for optimal synthesis of pose repeatability which can make robot design more reasonable and reduce the development cost of robots. Design/methodology/approach: In this paper, a mathematical model of pose repeatability, which includes positioning repeatability and orientation repeatability of robots, is established. According to the ISO 9283 standard, an optimal synthesis method of pose repeatability for collaborative robots is introduced, and three optimization objective functions are proposed. The optimization model is solved by using numerical analysis software, and the optimal arrangement scheme of random motion accuracy of joints is obtained which meets the requirements of pose repeatability of robot. Findings: It is found that, in three optimization objective functions, the single-objective evaluation function of maximization of joint motion error is more suitable for optimal synthesis of pose repeatability. In practice, due to the safety factor, the test results of pose repeatability are better than the results of optimal synthesis of pose repeatability. Practical implications: This method makes robot design more reasonable and reduces the development cost of robots. Originality/value: This work is the first time to optimize the orientation repeatability of collaborative robots. Because the pose repeatability of most robots is tested by the ISO 9283 standard, so this method which is based on this standard is more suitable for the performance requirements of robot products. |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/25615]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Hu MW(胡明伟) |
| 作者单位 | 1.University of the Chinese Academy of Sciences, Beijing, China 2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Hu MW,Wang HG,Pan XA,et al. Optimal synthesis of pose repeatability for collaborative robots based on the ISO 9283 standard[J]. Industrial Robot,2019:1-7. |
| APA | Hu MW,Wang HG,Pan XA,&Tian Y.(2019).Optimal synthesis of pose repeatability for collaborative robots based on the ISO 9283 standard.Industrial Robot,1-7. |
| MLA | Hu MW,et al."Optimal synthesis of pose repeatability for collaborative robots based on the ISO 9283 standard".Industrial Robot (2019):1-7. |
入库方式： OAI收割
来源：沈阳自动化研究所
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