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Wyszukujesz frazę "force estimation" wg kryterium: Temat


Wyświetlanie 1-2 z 2
Tytuł:
Accuracy in force estimation applied on a piezoelectric fine positioning system for machine tools
Autorzy:
Uhlmann, Eckart
Polte, Mitchel
Triebel, Florian
Overbeck, Rasmus
Thom, Simon
Powiązania:
https://bibliotekanauki.pl/articles/1428949.pdf
Data publikacji:
2021
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
force estimation
piezoelectric actuator
machine tool deflection
online compensation
Opis:
In order to improve the accuracy of machine tools, the use of additional active modules meeting the requirements of the “Plug & Produce” approach is focused. In this context one approach is the installation of a high precision positioning table for online compensation of machine tool deflections. For the model-based determination of the deflection, the knowledge of the effecting process force is crucial. This article examines the use of displacement sensors for force estimation in a piezoelectric system. The method is implemented on a high precision positioning table applicable in milling machine tools. In order to compensate nonlinear effects of piezoelectric actuators, a hysteresis operator is implemented. Experimental investigations are carried out to quantify the influence of preload stiffness, preload force and workpiece weight. Finally, a resolution d ≤ 78 N could be achieved and further improvements to meet the requirements for online compensation of machine tool deflection are discussed.
Źródło:
Journal of Machine Engineering; 2021, 21, 2; 24-34
1895-7595
2391-8071
Pojawia się w:
Journal of Machine Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Estimation of external force-torque vector based on double encoders of industrial robots using a hybrid Gaussian process regression and joint stiffness model
Autorzy:
Uhlmann, Eckart
Polte, Mitchel
Blumberg, Julian
Powiązania:
https://bibliotekanauki.pl/articles/24084712.pdf
Data publikacji:
2023
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
industrial robot
double encoders
force-torque estimation
Opis:
Industrial robots are increasingly used in industry for contact-based manufacturing processes such as milling and forming. In order to meet part tolerances, it is mandatory to compensate tool deflections caused by the external force-torque vector. However, using a third-party measuring device for sensing the external force-torque vector lowers the cost efficiency. Novel industrial robots are increasingly equipped with double encoders, in order to compensate deviations caused by the gearboxes. This paper proposes a method for the usage of such double encoders to estimate the external force-torque vector acting at the tool centre point of an industrial robot. Therefore, the joint elasticities of a six revolute joint industrial robot are identified in terms of piecewise linear functions based on the angular deviations at the double encoders when an external force-torque vector is applied. Further, initial deviations between the encoder values caused by gravitational forces and friction are modelled with a Gaussian process regression. Combining both methods to a hybrid model enables the estimation of external force-torque vectors solely based on measurements of the joint angles of secondary encoders. Based on the proposed method, additional measurement equipment can be saved, which reduces investment costs and improves robot dynamics.
Źródło:
Journal of Machine Engineering; 2023, 23, 3; 56--68
1895-7595
2391-8071
Pojawia się w:
Journal of Machine Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-2 z 2

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