Joint stiffness identification of six-revolute industrial serial robots
Joint stiffness identification of six-revolute industrial serial robots
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DOI：
10.1016/j.rcim.2011.02.003
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发表时间：
2011-08-01
影响因子：
10.4
通讯作者：
Furet, Benoit
中科院分区：
文献类型：
--
作者：
Dumas, Claire;Caro, Stephane;Furet, Benoit
虽然机器人在某些操作上与CNC机床一样具有竞争力，但它们尚未广泛用于加工操作。这可能是由于缺乏令人满意的加工操作所需的某些技术信息。例如，很难从机器人制造商那里获得有关工业机器人刚度的信息。因此，本文介绍了一个强大的和快速的程序，可用于识别任何六转串联机器人的关节刚度值。该过程的目的是评估关节刚度值，同时考虑平移和旋转位移的机器人末端执行器为一个给定的应用扳手（力和扭矩）。在本文中，机器人的链接被假定为比其驱动关节更硬。文中还分析了辨识方法的鲁棒性以及辨识结果对测量误差和实验测试次数的敏感性。最后，从关节刚度值获得机器人的实际笛卡尔刚度矩阵，并可用于运动规划和优化加工操作。(C)2011爱思唯尔有限公司版权所有。
Although robots tend to be as competitive as CNC machines for some operations, they are not yet widely used for machining operations. This may be due to the lack of certain technical information that is required for satisfactory machining operation. For instance, it is very difficult to get information about the stiffness of industrial robots from robot manufacturers. As a consequence, this paper introduces a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot. This procedure aims to evaluate joint stiffness values considering both translational and rotational displacements of the robot end-effector for a given applied wrench (force and torque). In this paper, the links of the robot are assumed to be much stiffer than its actuated joints. The robustness of the identification method and the sensitivity of the results to measurement errors and the number of experimental tests are also analyzed. Finally, the actual Cartesian stiffness matrix of the robot is obtained from the joint stiffness values and can be used for motion planning and to optimize machining operations. (C) 2011 Elsevier Ltd. All rights reserved.