SIA OpenIR  > 空间自动化技术研究室
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)
Department空间自动化技术研究室
Conference Name2017 IEEE International Conference on Robotics and Biomimetics
Conference DateDecember 5-8, 2017
Conference PlaceMacau, China
Author of SourceBeijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
Source PublicationProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2017
Pages2462-2467
Indexed ByEI
EI Accession number20182905576757
Contribution Rank1
ISBN978-1-5386-3741-8
KeywordElastic Deformation Modeling Collaborative Robots Stiffness Matrix Positioning Accuracy
Abstract

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.

Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21317
Collection空间自动化技术研究室
Corresponding AuthorHu MW(胡明伟)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Research on Elastic (1919KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Hu MW(胡明伟)]'s Articles
[Wang HG(王洪光)]'s Articles
[Pan XA(潘新安)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Hu MW(胡明伟)]'s Articles
[Wang HG(王洪光)]'s Articles
[Pan XA(潘新安)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Hu MW(胡明伟)]'s Articles
[Wang HG(王洪光)]'s Articles
[Pan XA(潘新安)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Research on Elastic Deformation Modeling of Collaborative Robots.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.