Model of Flexible Robot with Deformation Detection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F14%3A00228983" target="_blank" >RIV/68407700:21220/14:00228983 - isvavai.cz</a>
Result on the web
<a href="http://www.sciencedirect.com/science/article/pii/S1877705814031816" target="_blank" >http://www.sciencedirect.com/science/article/pii/S1877705814031816</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.proeng.2014.12.123" target="_blank" >10.1016/j.proeng.2014.12.123</a>
Alternative languages
Result language
angličtina
Original language name
Model of Flexible Robot with Deformation Detection
Original language description
The paper deals with the simulation of a concept performing the deformation measurement of a serial robot. The simulation model consist of two parts. The one of them is the model of the flexible robot with the flexibility concentrated in its gearboxes and its beams. The other one is the model of sensors measuring virtually the flexible deformations of the gearboxes and the arms. The rotary encoders are used for the gearboxes and the sensor consisting of the leaser emitter and the photodiodes measures the arms deformation. The deformation of the whole structure leads to an undesired error in the end-effector position control. Using this concept of measurement enables the compensation of this inaccuracy. The simulation model is used for the optimizationof the additional measurement concept.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA13-39057S" target="_blank" >GA13-39057S: Position Feedback Based Stiness Increase of Robots by Redundant Measurement</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Procedia Engineering
ISSN
1877-7058
e-ISSN
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Volume of the periodical
96
Issue of the periodical within the volume
96
Country of publishing house
LT - LITHUANIA
Number of pages
7
Pages from-to
510-516
UT code for WoS article
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EID of the result in the Scopus database
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