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An online real-time path compensation system for industrial robots based on laser tracker 作者:Shi, XJ (Shi, Xiaojia)[ 1 ] ; Zhang, FM (Zhang, Fumin)[ 1 ] ; Qu, XH (Qu, Xinghua)[ 1 ] ; Liu, BL (Liu, Bailing)[ 1 ] INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 卷: 13 期: 5 文献号: 1729881416663366 DOI: 10.1177/1729881416663366 出版年: OCT 21 2016 文献类型:Article 查看期刊影响力 摘要 Industrial robots have been widely used in many areas for the properties such as low cost, high flexibility and relatively large working space. The low absolute accuracy and low stiffness, however, limit the application in high precision areas. This article presents an approach for industrial robots that overcomes the inaccuracy of robotic path in offline programming. Robot Sensor Interface of KUKA robot controller makes the error compensation available. First, the compensation performance of the KUKA KR5 arc robot is investigated and the straight-line and circular arc path compensation strategies are proposed. Besides, an error compensation algorithm is proposed to generate the compensation values as well as to deal with the oscillation of real-time compensation. Finally, experimental results using a KUKA KR5 arc robot verify the correctness and accuracy of the approach. 关键词 作者关键词:Industrial robots; robotic path; offline programming; real-time compensation 作者信息 通讯作者地址: Zhang, FM (通讯作者) 显示更多 Tianjin Univ, 92 Weijin Rd, Tianjin 300072, Peoples R China. 地址: 显示更多 [ 1 ] Tianjin Univ, State Key Lab Precis Measuring Technol & Instrume, Tianjin, Peoples R China 电子邮件地址:zhangfumin@tju.edu.cn 基金资助致谢 基金资助机构 授权号 National Natural Science Foundation of China 51275350 Marine Science and Technology Project from the Tianjin Marine Bureau KJXH2014-08 查看基金资助信息 出版商 SAGE PUBLICATIONS INC, 2455 TELLER RD, THOUSAND OAKS, CA 91320 USA 期刊信息 Impact Factor (影响因子): Journal Citation Reports 类别 / 分类 研究方向:Robotics Web of Science 类别:Robotics 文献信息 语言:English 入藏号: WOS:000457625800001 ISSN: 1729-8814 其他信息 IDS 号: VH8YR Web of Science 核心合集中的 "引用的参考文献": 21 Web of Science 核心合集中的 "被引频次": 0 |
2楼2019-02-28 10:14:19
