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Research On Some Problems Of Dynamic Chracteristics Of Robot Based On Multi-Axis Force Sensor

Posted on:2004-01-20Degree:DoctorType:Dissertation
Country:ChinaCandidate:F J GanFull Text:PDF
GTID:1118360122955078Subject:Mechanical Manufacturing and Automation
Abstract/Summary:PDF Full Text Request
Researching on dynamic characteristic of a robot based upon multi-dimension force sensor is mainly dealt with in this dissertation. As the structure and the dynamic characteristic of a multi-dimension force sensor influence the dynamic characteristic of a robot system deeply, therefore the sensor's analytic studying, the sensor's optimal design, the sensor's dynamic characteristic analysis and the sensor's coupling function among it's dimensions are also studied in this dissertation. The dissertation is organized as:1. It is briefly looked back that the development of robot's technology at first, and then, it is introduced that the robot's sensors and the importance of robot's sensors for the developing of robot's technology, after that, the multi-dimension force sensor's developing status, and its structures, and the problems of the sensor are summarily presented. The current situation and hot problems of kinemics and dynamics of robot are summarily recommended also. The backgrounds of researching project in this dissertation, purposes and jobs of the project are given, finally.2. In chapter 2, author points out firstly that the elastic deformation of elastic units of a robot's wrist force sensor will be enlarged by the end-effector, the instruments and the work pieces, so the elastic deformation of the sensor will influence the location accuracy or kinetic accuracy of end point of a robot, under the condition of that the robot technology facing the developing of heavy load, light mass and high accuracy. It is discussed respectively that the relationship between the differential kinemics in the sensor's coordinate and the location accuracy or kinetic accuracy of the end point. Error matrixes of location and kinemics of the end point are presented respectively based on the differential kinemics in the sensor's coordinate, and the on-line error compensation methods are introduced subsequently. And then, the error matrixes of location and kinemics of the end point, and the on-line error compensation method are given based on robot's dynamics. Finally based on PUMA robot, three simulation examples are given respectively; the first is about the location error and on-line location error compensation, the second is about the kinetic error and on-line kinetic error compensation, the third is about location and kinetic errors causing by robot's dynamics and the on-line error compensations. The simulation results show that: a) Location error of the end point based on elastic deformation of the sensor will be about millimeter's degree under the permitting load, b) The on-line error compensation methods given are available.3. At first, author summarizes the four methods of identification robot's inertial parameters at present in chapter 3, and points out advantages and disadvantages of the methods. The disadvantages of the methods are: robot had to be disintegrated in some methods, that is, these methods cannot perform on-line; or, obtained the combination value of the robot's inertial parameters only by the other methods. And the common problem of the four methods is that the joint's characteristics of robot cannot be included. Then, author developments a new methodfor on-line identification robot end-effector's inertial parameters based on robot's wrist force sensor, theoretic analyses of the method are given in details. Based on Newton-Euler dynamics, a forward and a backward recursive formula are presented based on outputs of the sensor. A on-line method for identifying robot load parameters based on robot's wrist force sensor is presented aiming at the points that the load parameters must be identified on-line and real-time, and the identification steps are given clearly.4. Experiments of on-line identification inertial parameters of the robot's end-effector and load are shown in chapter 4, experiments are done on robot PUMA562, the work pieces which inertial parameters are already known, are as robot's end-effector and load respectively. In chapter 4, the principles, the applic...
Keywords/Search Tags:robot, multi-axis force sensor, error compensation, inertial parameter, on-line identification, optimal design, dynamic design
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