机械加工
机器人
雅可比矩阵与行列式
刚度
笛卡尔坐标系
运动学
机床
工业机器人
系统标识
控制工程
光学(聚焦)
计算机科学
工程类
机器人校准
机械工程
鉴定(生物学)
机器人运动学
过程(计算)
人工智能
结构工程
移动机器人
数据建模
数学
物理
生物
植物
软件工程
光学
操作系统
几何学
经典力学
应用数学
作者
Eberhard Abele,Matthias Weigold,Stefan Rothenbücher
出处
期刊:CIRP Annals
[Elsevier]
日期:2007-01-01
卷期号:56 (1): 387-390
被引量:250
标识
DOI:10.1016/j.cirp.2007.05.090
摘要
Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system's stiffness and its behavior during the milling process. Therefore a method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian matrix is introduced. Based on the results of the identification and the experimental validation the machining performance of the robot is evaluated and conclusions are drawn.
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