论文标题
7 DOF串行操纵器KUKA IIWA 14 R820的几何和刚度建模和设计
Geometric and Stiffness Modeling and Design of Calibration Experiments for the 7 dof Serial Manipulator KUKA iiwa 14 R820
论文作者
论文摘要
The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using an optimal selection of measurements pose, for the calibration procedure, the optimal pose selection aims to the efficiency improvement of identification procedure for serial manipulators which reduces noise impact on the parameters identification precision, it is usually used for planar manipulators, our work is mainly to extend the approach for a more complicated然后，使用空间操纵器的明智分解在3D空间中的操纵器中，然后使用7 DOF串行操作器的完整模型使用完整且不可还原模型，将最佳姿势配置用于校准过程中。该方法用拟人化工业机器人KUKA IIWA14 R820进行了说明，我们对此进行了校准，并使用两种不同的方法（虚拟关节建模）和MSA（矩阵结构分析）构建了刚度建模。
The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using an optimal selection of measurements pose, for the calibration procedure, the optimal pose selection aims to the efficiency improvement of identification procedure for serial manipulators which reduces noise impact on the parameters identification precision, it is usually used for planar manipulators, our work is mainly to extend the approach for a more complicated manipulator in 3D space using a wise decomposition of the spacial manipulator into a set of serial sub-chains, the optimal pose configuration is then used in the calibration procedure using the complete and irreducible model for the 7 DOF serial manipulator. The methodology is illustrated with the anthropomorphic industrial robot KUKA iiwa14 R820 for which, we performed the calibration and constructed the stiffness modeling using two different approaches namely VJM (Virtual Joint Modeling) and MSA (Matrix Structural Analysis).
