七自由度串联机械手KUKA iiwa 14 R820的几何和刚度建模及标定实验设计
Geometric and Stiffness Modeling and Design of Calibration Experiments for the 7 dof Serial Manipulator KUKA iiwa 14 R820
摘要：
本课题采用测量位姿优化选择方法对空间工业机械手进行了弹性静力学建模和标定实验，对于标定过程，最优位姿选择的目的是提高串联机械手参数辨识过程的效率，减少噪声对参数辨识精度的影响，通常用于平面机械手，我们的工作主要是将该方法推广到三维空间中的更复杂的机械臂，通过将空间机械臂分解为一组串联子链，然后使用7自由度串联机械臂的完整和不可约模型将最优位姿配置用于校准过程。该方法与拟人工业机器人KUKA iiwa14 R820的说明，我们进行了校准，并使用两种不同的方法，即VJM（虚拟关节建模）和MSA（矩阵结构分析）构建刚度建模。
英文摘要：
The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using an optimal selection of measurements pose, for the calibration procedure, the optimal pose selection aims to the efficiency improvement of identification procedure for serial manipulators which reduces noise impact on the parameters identification precision, it is usually used for planar manipulators, our work is mainly to extend the approach for a more complicated manipulator in 3D space using a wise decomposition of the spacial manipulator into a set of serial sub-chains, the optimal pose configuration is then used in the calibration procedure using the complete and irreducible model for the 7 DOF serial manipulator. The methodology is illustrated with the anthropomorphic industrial robot KUKA iiwa14 R820 for which, we performed the calibration and constructed the stiffness modeling using two different approaches namely VJM (Virtual Joint Modeling) and MSA (Matrix Structural Analysis).
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
