Method of Postures Selection for Industrial Robot Joint Stiffness Identification
Industrial robots are being widely applied to machining operations, and are gradually becoming competitive with traditional CNC machining centers. Obtaining accurate stiffness values of robotic joints is the foundation for deflections compensation in case of large cutting forces. A number of factors...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9406013/ |
| _version_ | 1819097529694814208 |
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| author | Yiran Zhang Kai Guo Jie Sun Yujing Sun |
| author_facet | Yiran Zhang Kai Guo Jie Sun Yujing Sun |
| author_sort | Yiran Zhang |
| collection | DOAJ |
| description | Industrial robots are being widely applied to machining operations, and are gradually becoming competitive with traditional CNC machining centers. Obtaining accurate stiffness values of robotic joints is the foundation for deflections compensation in case of large cutting forces. A number of factors influence the accuracy of joint stiffness identification, especially robotic posture. This paper proposes a robust and accurate method for selecting suitable postures in the joint stiffness identification. The identification process of the joint stiffness matrix is presented, an index considering both the dexterity and the condition number of the observation matrix is then developed, and the procedure for postures selection based on it is provided. The results of simulations and experiments show that the proposed method is more robust and accurate than classical method. |
| first_indexed | 2024-12-22T00:16:33Z |
| format | Article |
| id | doaj.art-63fc9ac6e6964cf8aa34e8f0cf1d8b0a |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T00:16:33Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-63fc9ac6e6964cf8aa34e8f0cf1d8b0a2022-12-21T18:45:17ZengIEEEIEEE Access2169-35362021-01-019625836259210.1109/ACCESS.2021.30736719406013Method of Postures Selection for Industrial Robot Joint Stiffness IdentificationYiran Zhang0https://orcid.org/0000-0003-3926-5295Kai Guo1https://orcid.org/0000-0002-3451-7732Jie Sun2Yujing Sun3https://orcid.org/0000-0002-7395-9453Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, ChinaKey Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, ChinaKey Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, ChinaSchool of Mechanical and Automotive Engineering, Qilu University of Technology, Jinan, ChinaIndustrial robots are being widely applied to machining operations, and are gradually becoming competitive with traditional CNC machining centers. Obtaining accurate stiffness values of robotic joints is the foundation for deflections compensation in case of large cutting forces. A number of factors influence the accuracy of joint stiffness identification, especially robotic posture. This paper proposes a robust and accurate method for selecting suitable postures in the joint stiffness identification. The identification process of the joint stiffness matrix is presented, an index considering both the dexterity and the condition number of the observation matrix is then developed, and the procedure for postures selection based on it is provided. The results of simulations and experiments show that the proposed method is more robust and accurate than classical method.https://ieeexplore.ieee.org/document/9406013/Joint stiffness identificationpostures selectionobservation matrixcondition numberdexterity |
| spellingShingle | Yiran Zhang Kai Guo Jie Sun Yujing Sun Method of Postures Selection for Industrial Robot Joint Stiffness Identification IEEE Access Joint stiffness identification postures selection observation matrix condition number dexterity |
| title | Method of Postures Selection for Industrial Robot Joint Stiffness Identification |
| title_full | Method of Postures Selection for Industrial Robot Joint Stiffness Identification |
| title_fullStr | Method of Postures Selection for Industrial Robot Joint Stiffness Identification |
| title_full_unstemmed | Method of Postures Selection for Industrial Robot Joint Stiffness Identification |
| title_short | Method of Postures Selection for Industrial Robot Joint Stiffness Identification |
| title_sort | method of postures selection for industrial robot joint stiffness identification |
| topic | Joint stiffness identification postures selection observation matrix condition number dexterity |
| url | https://ieeexplore.ieee.org/document/9406013/ |
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