Model of Flexible Robot with Deformation Detection

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 sen...

Full description

Saved in:
Bibliographic Details
Published inProcedia engineering Vol. 96; pp. 510 - 516
Main Authors Volech, Jiří, Mráz, Ladislav, Šika, Zbyněk, Valášek, Michael
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2014
Subjects
Deformation measurement
Dynamic model
End-effector position
Deformation measurement
End-effector position
Dynamic model
Online AccessGet full text

Cover

More Information
Summary: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.
ISSN:1877-7058
1877-7058
DOI:10.1016/j.proeng.2014.12.123