Experimental determination of dynamic parameters of an industrial robot

5th ModTech International Conference - Modern Technologies in Industrial Engineering

Banas, W.^1 ; Cwikla, G.^1 ; Foit, K.^1 ; Gwiazda, A.^1 ; Monica, Z.^1 ; Sekala, A.^1

Silesian University of Technology, Faculty of Mechanical Engineering, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, Konarskiego 18A, 44-100, Poland^1

关键词: Different speed;    Dynamic parameters;    Experimental determination;    Logical tests;    Off line programming;    On-line programming;    Universal model;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/227/1/012012/pdf
DOI  :  10.1088/1757-899X/227/1/012012

来源: IOP

【 摘 要 】

In an industry increasingly used are industrial robots. Commonly used are two basic methods of programming, on-line programming and off-line programming. In both cases, the programming consists in getting to the selected points record this position, and set the order of movement of the robot, and the introduction of logical tests. Such a program is easy to write, and it is suitable for most industrial applications. Especially when the process is known, respectively slow and unchanging. In this case, the program is being prepared for a universal model of the robot with the appropriate geometry and are checked only collisions. Is not taken into account the dynamics of the robot and how it will really behave while in motion. For this reason, the robot programmed to be tested at a reduced speed, which is raised gradually to the final value. Depending on the complexity of the move and the proximity of the elements it takes a lot of time. It is easy to notice that the robot at different speeds have different trajectories and behaves differently.