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An improved kinematic model for calibration of serial robots having closed-chain mechanisms

机译:一种改进的运动学模型,用于校准具有闭链机构的串行机器人

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摘要

Many industrial robots employ closed-loop actuating elements such as the parallelogram mechanism for increased stiffness. Modeling these manipulators for the purpose of calibration presents a challenge due to complex nonlinear couplings between parameters of the chains. The modeling method presented in this paper involves the integration of the open- and closed-loop elements whose errors can be resolved as linear functions of their parameters. As a result, the model is similar to that of a serial-link robot, which makes it possible to use existing well-defined calibration techniques in the area. Simulation and experimental studies on an industrial robot for verifying the correctness and effectiveness of the proposed model are also described.
机译:许多工业机器人采用闭环致动元件(例如平行四边形机构)来提高刚度。由于链参数之间复杂的非线性耦合,对这些机械手进行建模以进行校准提出了挑战。本文提出的建模方法涉及开环和闭环元件的集成,其误差可以解决为其参数的线性函数。结果,该模型类似于串行链接机器人的模型,这使得可以在该区域中使用现有的明确定义的校准技术。还描述了用于验证所提出模型的正确性和有效性的工业机器人的仿真和实验研究。

著录项

  • 来源
    《Robotica》 |2012年第6期|p.963-971|共9页
  • 作者

    Minh To; Phil Webb;

  • 作者单位

    School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK;

    School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    kinematic identification; closed-chain mechanism; parallelogram structure;

    机译:运动学识别闭链机制;平行四边形结构;

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