Influence of the velocity on quasi-static deflections of industrial articulated robots
| dc.rights.license | open | en_US |
| dc.contributor.author | GONZALEZ, M.K. | |
| dc.contributor.author | THEISSEN, N. | |
| dc.contributor.author | AGIRRE, N. | |
| dc.contributor.author | LARRAÑAGA, Jon | |
| hal.structure.identifier | ESTIA INSTITUTE OF TECHNOLOGY | |
| dc.contributor.author | HACALA, Patxi | |
| dc.date.accessioned | 2023-06-29T09:01:40Z | |
| dc.date.available | 2023-06-29T09:01:40Z | |
| dc.date.issued | 2023-01-03 | |
| dc.identifier.issn | 0268-3768 | en_US |
| dc.identifier.uri | https://oskar-bordeaux.fr/handle/20.500.12278/183241 | |
| dc.description.abstractEn | This article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection refers to the deflection of the end effector position of articulated robots during movement at low velocity along a predefined trajectory. Based on earlier reported observations by the authors, there exists a difference in the static and quasi-static deflections considering the same points along a trajectory. This work investigates this difference to assess the applicability of robotic compliance calibration at low velocities. For this assessment, the deflections of three industrial articulated robots were measured at different speeds and loads. Considering the similarity among the robot models used in this investigation, this work also elaborates on the potential influence of the measurement procedure on the measured deflections and its implications for the compliance calibration of articulated robots. For all industrial articulated robots in this investigation, the quasi-static deflections are significantly larger than the static ones but similar in trend. Additionally, the magnitude of the quasi-static deflections presents a proportional relationship to the Cartesian velocity. | |
| dc.language.iso | EN | en_US |
| dc.rights | Attribution 3.0 United States | * |
| dc.rights.uri | http://creativecommons.org/licenses/by/3.0/us/ | * |
| dc.subject.en | Industrial robot | |
| dc.subject.en | Contact applications | |
| dc.subject.en | Quasi-statics | |
| dc.subject.en | Position error | |
| dc.subject.en | Compliance | |
| dc.title.en | Influence of the velocity on quasi-static deflections of industrial articulated robots | |
| dc.type | Article de revue | en_US |
| dc.identifier.doi | 10.1007/s00170-022-10661-x | en_US |
| dc.subject.hal | Sciences de l'ingénieur [physics]/Automatique / Robotique | en_US |
| dc.description.sponsorshipEurope | European Union’s Horizon 2020 research and innovation programme | en_US |
| dc.description.sponsorshipEurope | European Regional Development Fund (FEDER) | en_US |
| bordeaux.journal | The International Journal of Advanced Manufacturing Technology | en_US |
| bordeaux.page | 1429–1438 | en_US |
| bordeaux.hal.laboratories | ESTIA - Recherche | en_US |
| bordeaux.issue | 125 | en_US |
| bordeaux.institution | Université de Bordeaux | en_US |
| bordeaux.institution | Bordeaux INP | en_US |
| bordeaux.institution | Bordeaux Sciences Agro | en_US |
| bordeaux.peerReviewed | oui | en_US |
| bordeaux.inpress | non | en_US |
| hal.identifier | hal-04145406 | |
| hal.version | 1 | |
| hal.date.transferred | 2023-06-29T09:01:50Z | |
| hal.export | true | |
| workflow.import.source | dissemin | |
| dc.rights.cc | CC BY | en_US |
| bordeaux.COinS | ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=The%20International%20Journal%20of%20Advanced%20Manufacturing%20Technology&rft.date=2023-01-03&rft.issue=125&rft.spage=1429%E2%80%931438&rft.epage=1429%E2%80%931438&rft.eissn=0268-3768&rft.issn=0268-3768&rft.au=GONZALEZ,%20M.K.&THEISSEN,%20N.&AGIRRE,%20N.&LARRA%C3%91AGA,%20Jon&HACALA,%20Patxi&rft.genre=article |
