Title:
VARIABLE-PARAMETER STIFFNESS IDENTIFICATION AND MODELING METHOD FOR INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2020/215614
Kind Code:
A1
Abstract:
Disclosed is a variable-parameter stiffness identification and modeling method for an industrial robot. An effective working space of a robot is divided into a plurality of cubic regions. For an operating task in a certain machining region, different loads are applied to an end effector at multiple positions and multiple postures in the region, and robot joint stiffness in this section is identified and acquired according to the relationship between the loads and an end deformation, thereby realizing accurate stiffness control of the robot in different operating sections during a machining process.
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Inventors:
TIAN WEI (CN)
JIAO JIACHEN (CN)
LIAO WENHE (CN)
LI BO (CN)
ZHANG LIN (CN)
CUI GUANGYU (CN)
BAI QUAN (CN)
JIAO JIACHEN (CN)
LIAO WENHE (CN)
LI BO (CN)
ZHANG LIN (CN)
CUI GUANGYU (CN)
BAI QUAN (CN)
Application Number:
PCT/CN2019/109864
Publication Date:
October 29, 2020
Filing Date:
October 08, 2019
Export Citation:
Assignee:
UNIV NANJING AERONAUTICS & ASTRONAUTICS (CN)
International Classes:
G05B13/04
Foreign References:
| CN110161850A | 2019-08-23 | |||
| CN107703748A | 2018-02-16 | |||
| CN102230783A | 2011-11-02 | |||
| CN107414834A | 2017-12-01 | |||
| CN106737855A | 2017-05-31 | |||
| CN105058387A | 2015-11-18 | |||
| US10150213B1 | 2018-12-11 |
Attorney, Agent or Firm:
JIANGSU SUNDY LAW FIRM (CN)
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