Joint stiffness identification and flexibility compensation of articulated industrial robot
文献类型：会议论文
| 作者 | Feng YL(冯亚磊); Qu DK(曲道奎); Xu F(徐方); Wang HG(王洪光)
|
| 出版日期 | 2013 |
| 会议名称 | 2013 2nd International Conference on Measurement, Instrumentation and Automation, ICMIA 2013 |
| 会议日期 | April 23-24, 2013 |
| 会议地点 | Guilin, China |
| 关键词 | Identification (control systems) Industrial robots |
| 页码 | 1047-1052 |
| 中文摘要 | Articulated robots are the most common industrial robots for their large workspace and flexibility. However, the existence of joint flexibility makes those robots difficult to achieve high absolute position accuracy. This paper presents a method to identify the joint stiffness of the robot. The basic idea of that method is to get joint stiffness based on Hook's Law through stepping movement of a single joint and calculating the corresponding joint gravity torque of every step. The practicality of that method is verified by experiment and a plan is carried out to compensate the joint flexibility. © (2013) Trans Tech Publications, Switzerland. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Korea Maritime University; Hong Kong Industrial Technology Research Centre; Inha University |
| 会议录 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications Ltd |
| 会议录出版地 | Zurich-Durnten, Switzerland |
| 语种 | 英语 |
| ISSN号 | 1660-9336 |
| ISBN号 | 978-3-03785-751-9 |
| WOS记录号 | WOS:000328521200202 |
| 源URL | [http://ir.sia.cn/handle/173321/12391]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Feng YL,Qu DK,Xu F,et al. Joint stiffness identification and flexibility compensation of articulated industrial robot[C]. 见:2013 2nd International Conference on Measurement, Instrumentation and Automation, ICMIA 2013. Guilin, China. April 23-24, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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