Robot rigidity modeling, identification and correction method and experimental system
A robot and correction coefficient technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of identification accuracy and identification workload conflicts, and achieve the effect of high-precision robot stiffness modeling
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Embodiment 1
[0044] figure 1 It is a schematic flow chart of a robot stiffness modeling, identification and correction method of the present invention; exemplary, this embodiment takes a seven-degree-of-freedom series robot as an example, such as figure 2 shown. The robot adopts a modular design concept. The robot can be regarded as composed of eight connecting rods and seven modular joints in series. The structural characteristics of this type of robot can be found in the reference "Hu M, Wang H, Pan X. Multi-objective Global optimum design of collaborative robots[J]. Structural and Multidisciplinary Optimization, 2020, 62:1547-1561.". According to the present invention, the robot is subjected to stiffness modeling, identification and correction, and the steps are as follows:
[0045] A: Splitting of the robot model.
[0046]The splitting of the robot model is to split the robot into several mutually independent modules according to the mechanism or structural characteristics of the r...
Embodiment 2
[0114] Such as Figure 11 , Figure 12 , this embodiment provides a robot stiffness modeling, identification and correction experiment system, including: a seven-degree-of-freedom robot 1, a laser tracker 2, a laser tracker target 3, a loading device 4, a loading flange 5, and a robot mounting seat 6. Six-dimensional force sensor 7, terminal 8;
[0115] The robot stiffness modeling, identification and correction experimental system is used to implement a robot stiffness modeling, identification and correction method described in Embodiment 1; the seven-degree-of-freedom robot 1 is fixed on the robot mount 6, and the loading method Lan 5 is installed on the end of seven-DOF robot 1 through six-dimensional force sensor 7, laser tracker target head 3 is installed on loading flange 5, and weight 4-2 moves toward the seven-degree-of-freedom robot 1 through steel wire rope 4-3 and loading frame 4-1. To load the robot 1, the loading force is changed by adjusting the number of weigh...
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