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Influence of the ve...
Influence of the velocity on quasi-static deflections of industrial articulated robots
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- Gonzalez, Monica (author)
- KTH,Tillverkning och mätsystem
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- Theissen, Nikolas Alexander, 1992- (author)
- KTH,Tillverkning och mätsystem
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- Agirre, Nora (author)
- Research and Development, MMAEN S.L., Pol. Plazaola, Manzana E, Nave 2, 31195, Berrioplano, Spain, Pol. Plazaola, Manzana E, Nave 2
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- Larrañaga, Jon (author)
- Faculty of Engineering, Mondragon University, Loramendi, 4, 20500, Gipuzkoa, Spain, Loramendi, 4
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- Hacala, Patxi (author)
- Dynamics and Control Department, IDEKO Research Centre, Arriaga Kalea, 2, 20870, Elgoibar, Spain, Arriaga Kalea, 2; Robotics Department, ESTIA Institute of Technology, Technopole Izarbel, 64210, Bidart, France
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- Archenti, Andreas, 1973- (author)
- KTH,Tillverkning och mätsystem
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(creator_code:org_t)
- 2023-01-07
- 2023
- English.
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In: The International Journal of Advanced Manufacturing Technology. - : Springer Nature. - 0268-3768 .- 1433-3015. ; 125:3-4, s. 1429-1438
- Related links:
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https://doi.org/10.1...
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https://urn.kb.se/re...
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Abstract
Subject headings
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- This article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection refers to the deflection of the end effector position of articulated robots during movement at low velocity along a predefined trajectory. Based on earlier reported observations by the authors, there exists a difference in the static and quasi-static deflections considering the same points along a trajectory. This work investigates this difference to assess the applicability of robotic compliance calibration at low velocities. For this assessment, the deflections of three industrial articulated robots were measured at different speeds and loads. Considering the similarity among the robot models used in this investigation, this work also elaborates on the potential influence of the measurement procedure on the measured deflections and its implications for the compliance calibration of articulated robots. For all industrial articulated robots in this investigation, the quasi-static deflections are significantly larger than the static ones but similar in trend. Additionally, the magnitude of the quasi-static deflections presents a proportional relationship to the Cartesian velocity.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Produktionsteknik, arbetsvetenskap och ergonomi (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Production Engineering, Human Work Science and Ergonomics (hsv//eng)
Keyword
- Compliance
- Contact applications
- Industrial robot
- Position error
- Quasi-statics
Publication and Content Type
- ref (subject category)
- art (subject category)
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