کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6867749 | 1439924 | 2018 | 14 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A new methodology for joint stiffness identification of heavy duty industrial robots with the counterbalancing system
ترجمه فارسی عنوان
یک روش جدید برای شناسایی سختی مشترک از روبات های سنگین صنعتی با سیستم تعادلی
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
چکیده انگلیسی
This paper deals with the joint stiffness modeling and identification of the heavy duty industrial robot with the counterbalancing system (CBS), which is important for the workspace optimization and deflection compensation in the robotic manufacturing. Shortcomings of the traditional method for the joint stiffness modeling and corresponding identification are analyzed in this paper. Motivated by the advantage and limitations of the traditional approach, a new identification methodology based on the servo motor current and corresponding position deflection is proposed to obtain the accurate joint stiffness. To validate the effectiveness of the proposed method for the joint stiffness modeling and identification, an identification and validation experiment is carried out using the HH-150 heavy duty industrial robot. The results show that the proposed methodology is able to identify the joint stiffness of the heavy duty industrial robot with the CBS, and the proposed new methodology outperforms in terms of accuracy, convenience and efficiency for the joint stiffness identification.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 53, October 2018, Pages 58-71
Journal: Robotics and Computer-Integrated Manufacturing - Volume 53, October 2018, Pages 58-71
نویسندگان
Kun Yang, Wenyu Yang, Guangdong Cheng, Bingrong Lu,