应用内置传感器信号的工业机器人末端运动特性检测方法研究

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英文篇名：Research on Detection Method for Terminal Motion Characteristics of Industrial Robot with Built-in Sensor Signal 作者：蔡航航 ; 刘大猛 ; 郭文静 ; 梅雪松 ; 耿涛 英文作者：CAI Hanghang;LIU Dameng;GUO Wenjing;MEI Xuesong;GENG Tao;Shaanxi Provincial Key Laboratory of Intelligent Robot, College of Mechanical Engineering,Xi'an Jiaotong University;Shaanxi Fast Gear Co., Ltd.; 关键词：工业机器人 ; 内置传感器 ; 电机特性 ; 运动特性检测 英文关键词：Industrial robots;;Built-in sensor signal;;Characteristics of motor;;Detection of motion characteristics 中文刊名：JCYY 英文刊名：Machine Tool & Hydraulics 机构：西安交通大学机械工程学院陕西省智能机器人重点实验室;陕西法士特齿轮有限责任公司; 出版日期：2019-02-15 出版单位：机床与液压 年：2019 期：v.47;No.477 基金：陕西省科技统筹创新工程计划项目(2015KTCXSF-04) 语种：中文; 页：JCYY201903003 页数：5 CN：03 ISSN：44-1259/TH 分类号：16-20

摘要

工业机器人作业过程中末端运动特性对加工质量有着重要影响。其关节运动特性在一定程度上决定了机器人末端的运动精度和运动特性。提出一种基于工业机器人内置传感器信号的检测方法。工业机器人关节电机的内置传感器信号能够实时反映关节运动信息,通过关节运动信息可以对机器人末端的运动特性进行检测和评估。经过与球杆仪的对照试验和负载、速度变化对末端运动特性的影响实验,验证了该方法的可行性和有效性,能够方便、快捷地实现工业机器人作业过程中末端运动特性的检测。
        The terminal motion characteristics of industrial robots have important influence on processing quality. The motion characteristics of industrial robots determine the motion precision and motion characteristics of the robot end to a certain extent. A detection method based on the built-in sensor signal of the industrial robot was presented. The built-in sensor signal of the industrial robot joint motor could reflect the motion information in real time, and the motion characteristics of the robot could be detected and evaluated by the joint motion information. The experimental results show that the method is feasible and effective. It can easily and quickly realize the detection of the terminal motion characteristics of the industrial robot during the operation process.

引文

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