The identification of robot joint stiffness based on the 3D point cloud measurement of robot end displacements
Conference: MEMAT 2022 - 2nd International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology
01/07/2022 - 01/09/2022 at Guilin, China
Proceedings: MEMAT 2022
Pages: 4Language: englishTyp: PDF
Authors:
Han, Haochen; Zhou, Xiaoqin; Chen, Lizhao; Feng, Chao; Du, Xinyue; Zhang, Biyu (School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China)
Abstract:
This paper proposes a method for the identification of robot joint stiffness based on the 3D point cloud measurement of robot end displacements. Firstly, a structured light 3D scanner is used to get the 3D point cloud data, and after data processing and coordinate transformation, the displacements of the robot end is obtained. To identify the joint stiffness of the robot, multiple groups of robot postures are selected, and a group of stable loads is added at the end of the robot, and then the joint stiffness of the robot has been obtained. The stiffness model established in this paper can be used in optimizing the milling path and parameters. Moreover, milling experiments using the robot are also carried out to verify the machining quality at different stiffness.