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Statements

Subject Item
n2:RIV%2F68407700%3A21220%2F14%3A00228983%21RIV15-GA0-21220___
rdf:type
n16:Vysledek skos:Concept
rdfs:seeAlso
http://www.sciencedirect.com/science/article/pii/S1877705814031816
dcterms: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 optimization of the additional measurement concept. 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 optimization of the additional measurement concept.
dcterms:title
Model of Flexible Robot with Deformation Detection Model of Flexible Robot with Deformation Detection
skos:prefLabel
Model of Flexible Robot with Deformation Detection Model of Flexible Robot with Deformation Detection
skos:notation
RIV/68407700:21220/14:00228983!RIV15-GA0-21220___
n4:aktivita
n13:P
n4:aktivity
P(GA13-39057S)
n4:cisloPeriodika
96
n4:dodaniDat
n8:2015
n4:domaciTvurceVysledku
n6:1448145 n6:4484061 n6:5864690 n6:8124205
n4:druhVysledku
n7:J
n4:duvernostUdaju
n18:S
n4:entitaPredkladatele
n14:predkladatel
n4:idSjednocenehoVysledku
29736
n4:idVysledku
RIV/68407700:21220/14:00228983
n4:jazykVysledku
n5:eng
n4:klicovaSlova
End-effector position; Deformation measurement; Dynamic model
n4:klicoveSlovo
n10:End-effector%20position n10:Deformation%20measurement n10:Dynamic%20model
n4:kodStatuVydavatele
LT - Litevská republika
n4:kontrolniKodProRIV
[3EBCF778A5C4]
n4:nazevZdroje
Procedia Engineering
n4:obor
n19:JD
n4:pocetDomacichTvurcuVysledku
4
n4:pocetTvurcuVysledku
4
n4:projekt
n15:GA13-39057S
n4:rokUplatneniVysledku
n8:2014
n4:svazekPeriodika
96
n4:tvurceVysledku
Šika, Zbyněk Valášek, Michael Mráz, Ladislav Volech, Jiří
s:issn
1877-7058
s:numberOfPages
7
n20:doi
10.1016/j.proeng.2014.12.123
n9:organizacniJednotka
21220