Study on Parameter Identification of Assembly Robot based on Screw Theory

2017 4th International Conference on Advanced Materials, Mechanics and Structural Engineering

材料科学;机械制造

Shi, Yun^1 ; Zhang, Xiaodong^1

School of Mechanical and Automotive Engineering, West Anhui University, Lu'an, Anhui

237012, China^1

关键词: Assembly robots;    Iterative least squares;    Kinematic model;    Model robot;    Positioning accuracy;    Product modeling;    Screw theory;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/269/1/012017/pdf
DOI  :  10.1088/1757-899X/269/1/012017

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

The kinematic model of assembly robot is one of the most important factors affecting repetitive precision. In order to improve the accuracy of model positioning, this paper first establishes the exponential product model of ER16-1600 assembly robot on the basis of screw theory, and then based on iterative least squares method, using ER16-1600 model robot parameter identification. By comparing the experiment before and after the calibration, it is proved that the method has obvious improvement on the positioning accuracy of the assembly robot.