王德伦

个人信息Personal Information

教授

博士生导师

硕士生导师

任职 : 数字化设计研究所所长

性别:男

毕业院校:大连理工大学

学位:博士

所在单位:机械工程学院

办公地点:机械楼9120

电子邮箱:dlunwang@dlut.edu.cn

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Off-line programmed error compensation of an industrial robot in ship hull welding

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论文类型:会议论文

发表时间:2017-08-16

发表刊物:10th International Conference on Intelligent Robotics and Applications, ICIRA 2017

收录刊物:Scopus、EI

卷号:10463 LNAI

页面范围:135-146

摘要:This paper presents the compliance modeling and error compensation for an industrial robot in the application of ship hull welding. The Cartesian stiffness matrix is derived using the virtual-spring approach, which takes the actuation and structural stiffness, arm gravity and external loads into account. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with an industrial robot along a welding trajectory. The results show that this compensation method can effectively improve the robot  s operational accuracy, allowing the actual trajectory of the robot with auxiliary loads to coincide with the target one approximately. ? 2017, Springer International Publishing AG.