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Multi-robot synergistic system static stiffness real-time performance evaluation method

A multi-robot and robot technology, applied in the general control system, control/adjustment system, instrument, etc., to achieve the effect of improving processing accuracy, simple method steps, and good real-time performance

Inactive Publication Date: 2017-12-01
SHANGHAI UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the deficiencies in the existing multi-robot collaborative processing technology, and provide a robot stiffness performance evaluation scheme without additional devices to improve robot processing accuracy

Method used

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  • Multi-robot synergistic system static stiffness real-time performance evaluation method
  • Multi-robot synergistic system static stiffness real-time performance evaluation method
  • Multi-robot synergistic system static stiffness real-time performance evaluation method

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Embodiment Construction

[0040] The following will be combined with Figure 1-4 And specific embodiment, the present invention is described in further detail:

[0041] Such as figure 1 As shown, in the stiffness performance evaluation system of the multi-robot collaborative processing system proposed by the present invention, multiple robots jointly clamp the same workpiece, and the posture of the robot individual unit is selected by the multi-robot cooperative posture planner. The nominal joint stiffness value of the robot individual unit will deviate from the actual situation. The identification experiment is carried out for each robot joint stiffness value, and the actual robot joint stiffness value is obtained for subsequent system stiffness analysis. According to the joint angle assigned by the attitude planner to the robot individual unit, the operating stiffness matrix of the robot individual sub-unit is constructed. The accumulative relationship between the operating stiffness matrix of the ...

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Abstract

The invention provides a multi-robot synergistic system static stiffness real-time performance evaluation method without additional devices. The method comprises the steps that based on a robot kinematics transfer matrix and a robot end operation stiffness matrix, a robot joint stiffness identification scheme is established and implemented, and accurate robot practical joint stiffness is acquired; by employing robot system software to feed back real-time joint angles, a robot jacobian matrix is established, and a multi-robot synergistic system overall stiffness matrix is formed through the robot jacobian matrix and joint stiffness parameters identified by a robot; robot real-time stiffness is subjected to visual characterization through robot stiffness matrix ellipsoids, and the maximum value of system stiffness matrix characteristic values is selected as an evaluation index for carrying out robot stiffness evaluation; finally, through a GUI design interface, a stiffness performance evaluation visual interface is designed based on a double-KUKA KR-16 robot synergistic system.

Description

technical field [0001] The invention belongs to the technical field of robot processing applications, and relates to an application technology for static stiffness performance evaluation of an industrial robot system, in particular to a method for evaluating the overall function of a robot system aimed at improving the processing accuracy of a multi-robot collaborative system. Background technique [0002] With the transformation of the manufacturing industry to "intelligence" and "collaboration", the autonomous production mode in which multiple robots cooperate with each other will be more widely used. Under the high-efficiency and high-precision production requirements, an important difficulty faced by the current multi-robot collaborative operation system is how to improve the machining accuracy. Stiffness is the main factor affecting the positional accuracy and dynamic performance of the robot. When performing more complex tasks, better stiffness is needed to improve the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607G05B2219/39064
Inventor 汪博文田应仲李龙王国鹏
Owner SHANGHAI UNIV
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