摘要
基于机器人关节刚度模型,研究了六自由度150kg重载机器人的刚度测量方法。首先通过实验辨识机器人各个关节刚度,得出关节刚度矩阵,建立机器人的关节刚度模型;然后利用关节刚度矩阵分析机器人的受负载作用,研究关节柔性变形对机器人末端定位精度的影响;最后基于辨识的关节刚度模型,对重载机器人的末端轨迹进行位置偏差补偿。实验结果表明,基于关节刚度模型的位置补偿明显提高了重载机器人的末端轨迹定位精度。
The stiffness measurement method of a 6-DOF 150Kg heavy-load robot based on the robot joint stiffness model was studied in this paper.First,the joint stiffness model of the robot is established,and each joint stiffness of the robot is identified through experiments in order to obtain the joint stiffness matrix.Additionally,the influence of the joint flexural deformation on the end position accuracy of the robot is studied by analyzing the joint stiffness matrix during loading process.Finally,based on the identified joint stiffness model,the position deviation compensation of the end trajectory of the heavy-load robot is performed.The result shows thatthe position accuracy of the end trajectory of the heavy-load robot was improved obviously through adding the calculated position compensation.
作者
刘华春
张方
蒋祺
陈卫中
Liu Huachun;Zhang Fang;Jiang Qi;Chen Weizhong(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;KunshanHuaheng Welding Co.,Ltd.Kunshan 215300,China)
出处
《国外电子测量技术》
2019年第10期13-17,共5页
Foreign Electronic Measurement Technology
关键词
重载机器人
关节柔性
关节刚度
位置补偿
heavy-load robot
joint flexibility
joint stiffness
position compensation
