SIA OpenIR  > 其他
Joint stiffness identification and flexibility compensation of articulated industrial robot
Feng YL(冯亚磊); Qu DK(曲道奎); Xu F(徐方); Wang HG(王洪光)
作者部门其他
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
会议主办者Korea Maritime University; Hong Kong Industrial Technology Research Centre; Inha University
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications Ltd
出版地Zurich-Durnten, Switzerland
2013
页码1047-1052
收录类别EI ; CPCI(ISTP)
EI收录号20133516681555
WOS记录号WOS:000328521200202
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-751-9
关键词Identification (Control Systems) Industrial Robots
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/12391
专题其他
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]//Korea Maritime University; Hong Kong Industrial Technology Research Centre; Inha University. Zurich-Durnten, Switzerland:Trans Tech Publications Ltd,2013:1047-1052.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Joint stiffness iden(414KB) 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Feng YL(冯亚磊)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
百度学术
百度学术中相似的文章
[Feng YL(冯亚磊)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
必应学术
必应学术中相似的文章
[Feng YL(冯亚磊)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Joint stiffness identification and flexibility compensation of articulated industrial robot.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。