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题名: Joint stiffness identification and flexibility compensation of articulated industrial robot
作者: 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: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications Ltd
会议录出版地: Zurich-Durnten, Switzerland
出版日期: 2013
页码: 1047-1052
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037857519
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/12391
Appears in Collections:其他_会议论文

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