Model of Flexible Robot with Deformation Detection
| Autor: | Jiří Volech, Zbyněk Šika, Michael Valášek, Ladislav Mráz |
|---|---|
| Rok vydání: | 2014 |
| Předmět: |
Rotary encoder
Flexibility (engineering) Engineering Deformation measurement business.industry General Medicine Deformation (meteorology) Dynamic model Photodiode law.invention Compensation (engineering) End-effector position law Robot business Position control Simulation Engineering(all) Common emitter |
| Zdroj: | Procedia Engineering. 96:510-516 |
| ISSN: | 1877-7058 |
| DOI: | 10.1016/j.proeng.2014.12.123 |
| Popis: | The paper deals with the simulation of a concept performing the deformation measurement of a serial robot. The simulation model consist of two parts. The one of them is the model of the flexible robot with the flexibility concentrated in its gearboxes and its beams. The other one is the model of sensors measuring virtually the flexible deformations of the gearboxes and the arms. The rotary encoders are used for the gearboxes and the sensor consisting of the leaser emitter and the photodiodes measures the arms deformation. The deformation of the whole structure leads to an undesired error in the end-effector position control. Using this concept of measurement enables the compensation of this inaccuracy. The simulation model is used for the optimization of the additional measurement concept. |
| Databáze: | OpenAIRE |
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