Name
Abstract | ||
|---|---|---|
This paper presents the compliance modeling and error compensation for an industrial robot in the application of ship hull welding. The Cartesian stiffness matrix is derived using the virtual-spring approach, which takes the actuation and structural stiffness, arm gravity and external loads into account. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with an industrial robot along a welding trajectory. The results show that this compensation method can effectively improve the robot’s operational accuracy, allowing the actual trajectory of the robot with auxiliary loads to coincide with the target one approximately. |
Year | Venue | Field |
|---|---|---|
2017 | ICIRA | Stiffness,Control theory,Control engineering,Industrial robot,Stiffness matrix,Engineering,Robot,Hull,Robot welding,Welding,Trajectory |
DocType | Citations | PageRank |
Conference | 1 | 0.43 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guanglei Wu | 1 | 7 | 3.08 |
| Delun Wang | 2 | 3 | 0.82 |
| Huimin Dong | 3 | 1 | 0.77 |