Decoupling and compensation of synthesis errors for machining robot system

doi:10.6041/j.issn.1000-1298.2013.12.054

IR > 机电工程学院

	Decoupling and compensation of synthesis errors for machining robot system
	Zhang, Yonggui; Gao, Jin'gang; Liu, Wenzhou; Yuan, Mingjie
	2013-12-01
发表期刊	Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery
ISSN	10001298
卷号	44 期号:12 页码:326-331
摘要	The error kinematics mathematic model of 6-DOF robot and 2-DOF positioner was established on the basis of differential transformation matrix. When robot was machining, the dynamic error and the static error were coupling. The relationship between two adjacent rod of the dynamic error and the static error was analyzed on the perturbation method, and then the relationship of dynamic error and the static error between robot end effector and each joint was built. Based on the perturbation method, the synthesis error compensation model was created by decoupling the dynamic error and the static error, and then the effectivity of the compensation model was proved. The compensation value of each robot joint can be obtained from the model.
关键词	End effectors Linear transformations Machining Perturbation techniques Compensation modeling Decoupling Differential transformation Dynamic error Machining robot Mathematic model Perturbation method Robot end effector
DOI	10.6041/j.issn.1000-1298.2013.12.054
收录类别	EI
语种	中文
出版者	Chinese Society of Agricultural Machinery
EI入藏号	20140217179751
EI主题词	Error compensation
EI分类号	604.2 Machining Operations - 731.5 Robotics - 921 Mathematics - 921.3 Mathematical Transformations
来源库	Compendex
分类代码	604.2 Machining Operations - 731.5 Robotics - 921 Mathematics - 921.3 Mathematical Transformations
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/113243
专题	机电工程学院
作者单位	Key Laboratory of Digital Manufacturing Technology and Application, Ministry of Education, Lanzhou University of Technology, Lanzhou 730050, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Zhang, Yonggui,Gao, Jin'gang,Liu, Wenzhou,et al. Decoupling and compensation of synthesis errors for machining robot system[J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):326-331.
APA	Zhang, Yonggui,Gao, Jin'gang,Liu, Wenzhou,&Yuan, Mingjie.(2013).Decoupling and compensation of synthesis errors for machining robot system.Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,44(12),326-331.
MLA	Zhang, Yonggui,et al."Decoupling and compensation of synthesis errors for machining robot system".Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 44.12(2013):326-331.