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Optimal configuration selection for stiffness identification of 7-Dof collaborative robots
Hu MW(胡明伟)1,2,3; Wang HG(王洪光)1,2; Pan XA(潘新安)1,2
Department工艺装备与智能机器人研究室
Source PublicationINTELLIGENT SERVICE ROBOTICS
ISSN1861-2776
2020
Volume13Issue:3Pages:379–391
Indexed BySCI ; EI
EI Accession number20202208718243
WOS IDWOS:000534718700001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of ChinaNational Natural Science Foundation of China [51535008] ; State Key Laboratory of Robotics [2014-Z09] ; Key Program of the Chinese Academy of SciencesChinese Academy of Sciences [KGZD-EW-608-1]
KeywordCollaborative robots Stiffness identification Optimal configuration Influencing factor separation method Inverse condition number
Abstract

Aimed to improve the stiffness identification precision of 7-degree-of-freedom (Dof) collaborative robots (Cobots), an optimal configuration selection method for elastostatic calibration of robots is researched by the influencing factor separation method. Different from previous studies, this method can deal with the influence of redundant Dof on measurement configuration selection of redundant robotic manipulators. The independent influence of each joint on the inverse condition number which is selected as the evaluation criterion is analyzed through the orthogonal design experiment and the analysis of variance, and the optimal measuring configurations of robots for stiffness identification can be selected from joint space. Based on a 7-Dof Cobot SHIR5-III, static compliance simulations are performed to identify joint stiffness of the robot. Compared to identification results by using the configurations having large, medium and small inverse condition number, the effectiveness of this optimal configuration selection method is verified and the identification accuracy can be essentially improved with configurations having a large inverse condition number.

Language英语
WOS SubjectRobotics
WOS KeywordINDUSTRIAL ROBOTS ; CALIBRATION ; DESIGN ; MODEL
WOS Research AreaRobotics
Funding ProjectNational Natural Science Foundation of China[51535008] ; State Key Laboratory of Robotics[2014-Z09] ; Key Program of the Chinese Academy of Sciences[KGZD-EW-608-1]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26933
Collection工艺装备与智能机器人研究室
Corresponding AuthorWang HG(王洪光)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Hu MW,Wang HG,Pan XA. Optimal configuration selection for stiffness identification of 7-Dof collaborative robots[J]. INTELLIGENT SERVICE ROBOTICS,2020,13(3):379–391.
APA Hu MW,Wang HG,&Pan XA.(2020).Optimal configuration selection for stiffness identification of 7-Dof collaborative robots.INTELLIGENT SERVICE ROBOTICS,13(3),379–391.
MLA Hu MW,et al."Optimal configuration selection for stiffness identification of 7-Dof collaborative robots".INTELLIGENT SERVICE ROBOTICS 13.3(2020):379–391.
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