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Research on Elastic Deformation Modeling of Collaborative Robots
Hu MW(胡明伟); Wang HG(王洪光); Pan XA(潘新安); Tian Y(田勇)
作者部门空间自动化技术研究室
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
会议主办者Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
会议录名称Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地New York
2017
页码2462-2467
收录类别EI
EI收录号20182905576757
产权排序1
ISBN号978-1-5386-3741-8
关键词Elastic Deformation Modeling Collaborative Robots Stiffness Matrix Positioning Accuracy
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.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21317
专题空间自动化技术研究室
通讯作者Hu MW(胡明伟)
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
Hu MW,Wang HG,Pan XA,et al. Research on Elastic Deformation Modeling of Collaborative Robots[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:2462-2467.
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