基于圆点分析法的工业机器人关节刚度及回差辨识  

Industrial Robot Joint Stiffness and Backlash Identification based on Circle-Point Analysis Method

作　　者：冯亚磊[1,2] 徐方[1,3] 李学威[3] 邹风山[3] 

机构地区：[1]中科院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院大学,北京100039 [3]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168

出　　处：《机械传动》2013年第9期15-17,共3页Journal of Mechanical Transmission

基　　金：863计划课题"机器人模块化技术的典型行业应用示范"(2012AA 041405)

摘　　要：提出基于圆点分析法进行机器人关节刚度和回差的辨识。建立了机器人的关节刚度及回差的耦合传动误差模型,给出了关节误差及关节重力矩的计算方法。以SRH6C机器人为对象进行了试验验证,验证了方法的可行性,从而为提高机器人的绝对定位精度提供了理论依据。The cirle - point analysis method is proposed for the identification on robotic joint - stiffness and back- lash. The coupled transmission error of joint - stiffness and backlash modele is built and the calculation method of joint error and joint gravity torque is given. An experiment is carried out by taking SRH6C robot as object, which verified the feasibility of this method, then a theory basis to improve the absolute lacation accuracy of the robot is provided.

关 键 词：机器人关节 圆点分析法 关节刚度 刚度参数辨识 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]