Compliance modeling and identification of 5-axis vertical articulated robot for machining applications
Autori
Milutinović, DraganGlavonjić, Miloš
Slavković, Nikola
Živanović, Saša
Kokotović, Branko
Dimić, Zoran
Konferencijski prilog (Objavljena verzija)
Metapodaci
Prikaz svih podataka o dokumentuApstrakt
This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.
Ključne reči:
robot / machining / compliance modelingIzvor:
Proceedings of the 34th International Conference on Production Engineering, 2011, 381-384Izdavač:
- Univesrity of Nis, Faculty of Mechanical Engineering, Department for Production, IT and Management
Finansiranje / projekti:
- Razvoj tehnologija višeosne obrade složenih alata za potrebe domaće industrije (RS-MESTD-MPN2006-2010-14034)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Milutinović, Dragan AU - Glavonjić, Miloš AU - Slavković, Nikola AU - Živanović, Saša AU - Kokotović, Branko AU - Dimić, Zoran PY - 2011 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4810 AB - This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining. PB - Univesrity of Nis, Faculty of Mechanical Engineering, Department for Production, IT and Management C3 - Proceedings of the 34th International Conference on Production Engineering T1 - Compliance modeling and identification of 5-axis vertical articulated robot for machining applications EP - 384 SP - 381 UR - https://hdl.handle.net/21.15107/rcub_machinery_4810 ER -
@conference{ author = "Milutinović, Dragan and Glavonjić, Miloš and Slavković, Nikola and Živanović, Saša and Kokotović, Branko and Dimić, Zoran", year = "2011", abstract = "This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.", publisher = "Univesrity of Nis, Faculty of Mechanical Engineering, Department for Production, IT and Management", journal = "Proceedings of the 34th International Conference on Production Engineering", title = "Compliance modeling and identification of 5-axis vertical articulated robot for machining applications", pages = "384-381", url = "https://hdl.handle.net/21.15107/rcub_machinery_4810" }
Milutinović, D., Glavonjić, M., Slavković, N., Živanović, S., Kokotović, B.,& Dimić, Z.. (2011). Compliance modeling and identification of 5-axis vertical articulated robot for machining applications. in Proceedings of the 34th International Conference on Production Engineering Univesrity of Nis, Faculty of Mechanical Engineering, Department for Production, IT and Management., 381-384. https://hdl.handle.net/21.15107/rcub_machinery_4810
Milutinović D, Glavonjić M, Slavković N, Živanović S, Kokotović B, Dimić Z. Compliance modeling and identification of 5-axis vertical articulated robot for machining applications. in Proceedings of the 34th International Conference on Production Engineering. 2011;:381-384. https://hdl.handle.net/21.15107/rcub_machinery_4810 .
Milutinović, Dragan, Glavonjić, Miloš, Slavković, Nikola, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, "Compliance modeling and identification of 5-axis vertical articulated robot for machining applications" in Proceedings of the 34th International Conference on Production Engineering (2011):381-384, https://hdl.handle.net/21.15107/rcub_machinery_4810 .