| Форма представления | Статьи в зарубежных журналах и сборниках |
| Год публикации | 2016 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
Klimchik A. Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator / Magid E., Pashkevich A. // IFAC-PapersOnLine. - 2016. - №49 (12). - p. 967-972. |
| Аннотация |
Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016) |
| Ключевые слова |
industrial robot; stiffness modeling; calibration; gravity compensator; design of experiments |
| Название журнала |
Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016)
|
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=149764 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.date.accessioned |
2016-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2016-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2016 |
ru_RU |
| dc.identifier.citation |
Klimchik A. Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator / Magid E., Pashkevich A. // IFAC-PapersOnLine. - 2016. - №49 (12). - p. 967-972. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=149764 |
ru_RU |
| dc.description.abstract |
Proceedings of the 8-th IFAC Conference on Manufacturing Modelling, Management and Control (MIM 2016) |
ru_RU |
| dc.description.abstract |
The paper deals with elastostatic calibration of quasi-serial heavy robots with kinematic parallelograms and gravity compensators. Particular attention is paid to the selection of optimal measurement configurations allowing to reduce the measurement noise impact on the identification accuracy. For these types of manipulators, the identification equations are highly non-linear with respect to the parameters to be calibrated. For this specific architecture, a two-steps identification procedure is developed and a new technique of the calibration experiment design is proposed, which allows improving the identification accuracy without increasing the number of measurements. The developed technique is illustrated by an application example that deals with a typical heavy quasi-serial industrial robot. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
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ru_RU |
| dc.title |
Design of experiments for elastostatic calibration of heavy industrial robots with kinematic parallelogram and gravity compensator |
ru_RU |
| dc.type |
Статьи в зарубежных журналах и сборниках |
ru_RU |
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