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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.