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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.