Research on Identification Method of Robot Joint Stiffness
As a key object in the field of industrial robot research,stiffness has an important impact on the application of robots in the field of machining,so it is of far-reaching significance to accurately identify its stiffness.In view of the deficiencies and un-considered problems in the previous stiffness identification tests,a more standardized and accurate test method than previous tests is proposed.The multiple influencing factors in the stiffness identification test are fully considered and robot poses are optimized by MATLAB software.Based on the establishment of the robot kinematics DH model and the traditional static stiffness model,the precise identification of the robot stiffness is realized.The test results show that the optimized test method effectively improves the accuracy of the stiffness matrix.
NETL
NSTL
万方数据
维普
