Optimal Synthesis of Pose Repeatability for a Collaborative Robot
With the requirement of pose repeatability of robots， searching the optimal arrangement scheme of random motion accuracy of joints can make robot design more reasonable and reduce the development cost of robots. Firstly， based on the analysis of pose repeatability of robots， a mathematical model of...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.009 |
| _version_ | 1797819679064981504 |
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| author | Xu Liu Song Wang Aihua Liu Mingwei Hu |
| author_facet | Xu Liu Song Wang Aihua Liu Mingwei Hu |
| author_sort | Xu Liu |
| collection | DOAJ |
| description | With the requirement of pose repeatability of robots， searching the optimal arrangement scheme of random motion accuracy of joints can make robot design more reasonable and reduce the development cost of robots. Firstly， based on the analysis of pose repeatability of robots， a mathematical model of pose repeatability is established. The model includes position repeatability and orientation repeatability of robots. Then， with the accuracy optimization evaluation function of maximization of joint motion error， the optimal synthesis of pose repeatability for collaborative robot KUKA iiwa 7 is performed. And the optimal arrangement scheme of random motion accuracy of joints can be obtained. Finally， the method is verified by carrying the pose repeatability test of KUKA iiwa 7， and the results of accuracy design by this method can make robot design more reasonable. |
| first_indexed | 2024-03-13T09:26:08Z |
| format | Article |
| id | doaj.art-5f466fea0d384044b3d1e9af6ff2948e |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:26:08Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-5f466fea0d384044b3d1e9af6ff2948e2023-05-26T09:33:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-014552567492974Optimal Synthesis of Pose Repeatability for a Collaborative RobotXu LiuSong WangAihua LiuMingwei HuWith the requirement of pose repeatability of robots， searching the optimal arrangement scheme of random motion accuracy of joints can make robot design more reasonable and reduce the development cost of robots. Firstly， based on the analysis of pose repeatability of robots， a mathematical model of pose repeatability is established. The model includes position repeatability and orientation repeatability of robots. Then， with the accuracy optimization evaluation function of maximization of joint motion error， the optimal synthesis of pose repeatability for collaborative robot KUKA iiwa 7 is performed. And the optimal arrangement scheme of random motion accuracy of joints can be obtained. Finally， the method is verified by carrying the pose repeatability test of KUKA iiwa 7， and the results of accuracy design by this method can make robot design more reasonable.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.009Collaborative robot;Pose repeatability;Optimal synthesis;Accuracy design |
| spellingShingle | Xu Liu Song Wang Aihua Liu Mingwei Hu Optimal Synthesis of Pose Repeatability for a Collaborative Robot Jixie chuandong Collaborative robot;Pose repeatability;Optimal synthesis;Accuracy design |
| title | Optimal Synthesis of Pose Repeatability for a Collaborative Robot |
| title_full | Optimal Synthesis of Pose Repeatability for a Collaborative Robot |
| title_fullStr | Optimal Synthesis of Pose Repeatability for a Collaborative Robot |
| title_full_unstemmed | Optimal Synthesis of Pose Repeatability for a Collaborative Robot |
| title_short | Optimal Synthesis of Pose Repeatability for a Collaborative Robot |
| title_sort | optimal synthesis of pose repeatability for a collaborative robot |
| topic | Collaborative robot;Pose repeatability;Optimal synthesis;Accuracy design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.009 |
| work_keys_str_mv | AT xuliu optimalsynthesisofposerepeatabilityforacollaborativerobot AT songwang optimalsynthesisofposerepeatabilityforacollaborativerobot AT aihualiu optimalsynthesisofposerepeatabilityforacollaborativerobot AT mingweihu optimalsynthesisofposerepeatabilityforacollaborativerobot |