Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses
CC BY
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| Định dạng: | Sách |
| Ngôn ngữ: | English |
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Springer
2023
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| Truy cập trực tuyến: | https://link.springer.com/article/10.1007/s11740-023-01198-3 https://dlib.phenikaa-uni.edu.vn/handle/PNK/8024 |
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oai:localhost:PNK-80242023-04-18T03:02:46Z Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses Cornelia, Tepper Alexander, Matei Jonas, Zarges TCP CC BY In this paper a cost and time efficient approach to setup a compliance model for industrial robots is presented. The compliance model is distinctly determined by the gear’s stiffness parameters which are tuned by an optimal design of experiments approach. The experimental setup consists of different poses of the robot’s axes together with the applied force at the tool center point (TCP). These robot poses represent together with defined forces the experimental setup where the deviation of the robot under defined force is measured. Based on measurements of the displacement of the TCP the stiffness parameters for the compliance model are estimated and afterwards validated in new experiments. The efficiency of this approach lies in the reduced amount of experiments that are needed to identify the stiffness parameters that are parameters inherent to the compliance and the less complex experimental setup. 2023-04-18T03:02:46Z 2023-04-18T03:02:46Z 2023 Book https://link.springer.com/article/10.1007/s11740-023-01198-3 https://dlib.phenikaa-uni.edu.vn/handle/PNK/8024 en application/pdf Springer |
| institution |
Digital Phenikaa |
| collection |
Digital Phenikaa |
| language |
English |
| topic |
TCP |
| spellingShingle |
TCP Cornelia, Tepper Alexander, Matei Jonas, Zarges Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| description |
CC BY |
| format |
Book |
| author |
Cornelia, Tepper Alexander, Matei Jonas, Zarges |
| author_facet |
Cornelia, Tepper Alexander, Matei Jonas, Zarges |
| author_sort |
Cornelia, Tepper |
| title |
Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| title_short |
Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| title_full |
Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| title_fullStr |
Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| title_full_unstemmed |
Optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| title_sort |
optimal design for compliance modeling of industrial robots with bayesian inference of stiffnesses |
| publisher |
Springer |
| publishDate |
2023 |
| url |
https://link.springer.com/article/10.1007/s11740-023-01198-3 https://dlib.phenikaa-uni.edu.vn/handle/PNK/8024 |
| _version_ |
1763543256310743040 |
| score |
8.891787 |