Joint Compliance Error Compensation for Robot Manipulator Using Body Frame

被引：0
|
作者：
Seong Hyeon Kim
Byung-Kwon Min
机构：
[1] Yonsei University,Department of Mechanical Engineering
来源：
International Journal of Precision Engineering and Manufacturing | 2020年 / 21卷
关键词：
Industrial robot; Joint stiffness; Manipulator control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
To deal with the compliance error that is structural deflection caused by an applied wrench in robotic applications, several compensation methods have been developed. However, conventional methods have limitations because they do not consider how compensation of one joint affects the compliance errors of the other joints. In this study, it is proposed that a joint compliance error compensation method that calculates the exact amount of compensation of each joint using a body frame. The effectiveness of the proposed method is evaluated using simulations.
引用
收藏
页码：1017 / 1023
页数：6
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