Robot Joint Modeling and Parameter Identification Using the Clamping Method
Författare
Summary, in English
The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in presence of process forces. While there are techniques and products available for increasing the absolute accuracy of free-space motions, the mechanical weaknesses of the robot in combination with the milling forces limits the achievable performance. If the dynamic effects causing the deviations can be compensated for, there would be several benefits of using industrial robots for machining applications. To enable the compensation, the causes of the path deviations have to be adequately modeled, and there must be a method for determining the model parameters in a simple and inexpensive way. To that end, we propose a radically new method for identification of robot joint model parameters, based on clamping of the robot to a rigid environment. The rigidity of the environment then eliminates the need for expensive measurement equipment, and the internal sensors of the robot give sufficient feedback. An experimental validation shows the feasibility of the method.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Sidor
813-818
Publikation/Tidskrift/Serie
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013
Länkar
Dokumenttyp
Konferensbidrag
Förlag
IFAC
Ämne
- Control Engineering
Conference name
IFAC Conference on Manufacturing Modelling, Management and Control (MIM2013)
Conference date
2013-06-19 - 2013-06-21
Conference place
Saint Petersburg, Russian Federation
Status
Published
Projekt
- RobotLab LTH
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISSN: 1474-6670
- ISBN: 978-3-902823-35-9