Nora Aguirre Jaca, Jon Larrañaga Amilibia, Ibai Ulacia Garmendia, Ibai Inziarte Hidalgo
{"title":"工业机器人轨迹补偿模型及关节扭刚度影响分析","authors":"Nora Aguirre Jaca, Jon Larrañaga Amilibia, Ibai Ulacia Garmendia, Ibai Inziarte Hidalgo","doi":"10.1109/ICCAR49639.2020.9108007","DOIUrl":null,"url":null,"abstract":"The behavior of an industrial robot may change under the influence of an external force. These robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. This can be associated with the low stiffness of the manipulators. This work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Industrial Robotics Trajectory Compensation Model and Joints Torsional Stiffness Impact Analysis\",\"authors\":\"Nora Aguirre Jaca, Jon Larrañaga Amilibia, Ibai Ulacia Garmendia, Ibai Inziarte Hidalgo\",\"doi\":\"10.1109/ICCAR49639.2020.9108007\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The behavior of an industrial robot may change under the influence of an external force. These robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. This can be associated with the low stiffness of the manipulators. This work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.\",\"PeriodicalId\":412255,\"journal\":{\"name\":\"2020 6th International Conference on Control, Automation and Robotics (ICCAR)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-04-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 6th International Conference on Control, Automation and Robotics (ICCAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCAR49639.2020.9108007\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAR49639.2020.9108007","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Industrial Robotics Trajectory Compensation Model and Joints Torsional Stiffness Impact Analysis
The behavior of an industrial robot may change under the influence of an external force. These robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. This can be associated with the low stiffness of the manipulators. This work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.
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