Release Time:2019-03-11  Hits:

Indexed by: Conference Paper

Date of Publication: 2017-08-16

Journal: 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017

Included Journals: EI、Scopus

Volume: 10463 LNAI

Page Number: 135-146

Abstract: 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.