工业机器人齿轮间隙动态特性的可测量性

2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2018-11-01 DOI:10.1109/M2VIP.2018.8600915

Karim Ali, Fabian Baumeister, A. Verl

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引用次数: 1

摘要

目前工业机器人齿轮间隙的标定和补偿方法只考虑平稳效应。另外，昂贵的传感器被用于机器人的绝对位置控制。本文研究了KUKA kr500 - 3mt机器人在齿轮间隙在线补偿的情况下，齿轮间隙的动态特性及其影响的可测量性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Measurability of the dynamic behavior of gear backlash at industrial robots

In current calibration and compensation methods for gear backlash of industrial robots, only stationary effects are considered. Alternatively, expensive sensors are used for absolute position control of robots. This paper investigates the dynamic behavior of gear backlash and the measurability of its influences at a KUKA KR500–3 MT robot in the context of online gear backlash compensation.

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2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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