『您的瀏覽器不支援JavaScript功能,若網頁功能無法正常使用時,請開啟瀏覽器JavaScript狀態』

跳到主要內容區塊

工業技術研究院

:::

技術名稱: 機器人動態精度補償技術

技術簡介

本技術藉由建立機器手臂非線性動態行為,降低動態追蹤誤差達<0.4 mm @500 mm/sec(手臂速度,驗證用手臂為AR605/AR607)

Abstract

The technology can be applied to improve the dynamic absolute accuracy of the robot, and achieve the absolute accuracy of the cartesian coordinates of <0.4mm@500 mm/sec(for AR605/AR607) by establishing the nonlinear physical mode.

技術規格

1.適用於具開放式控制器架構之6軸關節式機器人 2.動態精度<0.4 mm@500 mm/sec(手臂速度)

Technical Specification

1. Applicable to the 6-axis articulated robot with open controller architecture 2. Cartesian coordinates absolute accuracy <0.3mm

技術特色

(1)系統模型建構:分析手臂尺寸、結構設計、動力傳遞等,建構手臂物理模型。 (2)系統參數校正:分析手臂幾何參數(DH參數、Gear Ratio)、撓性變形(靜態剛性)。 (3)系統前饋控制:採Model-Based前饋控制技術,補償手臂靜態精度。

應用範圍

繞切、塗膠、雷切等

接受技術者具備基礎建議(設備)

1.具開放式控制器架構之6軸關節式機器人 2.MIO控制器

接受技術者具備基礎建議(專業)

電子、電機、資訊、機械等工程背景、具C語言程式設計能力。

技術分類 機械自動化

聯絡資訊

聯絡人:蕭欽奇 智慧機器人技術組(0Q000)

電話:+886-3-5913896 或 Email:hsiao_cc@itri.org.tw

客服專線:+886-800-45-8899

傳真:+886-3-5913607

[{"text":"企業網","weight":13.0},{"text":"材化所","weight":11.5},{"text":"機械所","weight":10.0},{"text":"綠能所","weight":9.4},{"text":"生醫所","weight":8.0},{"text":"半導體","weight":6.2},{"text":"南分院","weight":5.0},{"text":"太陽能","weight":5.0},{"text":"課程","weight":5.0},{"text":"遠紅外線","weight":5.0},{"text":"雷射","weight":4.0},{"text":"LED","weight":4.0},{"text":"LED可見光","weight":3.0},{"text":"5G","weight":3.0},{"text":"工研人","weight":3.0},{"text":"電光所","weight":3.0},{"text":"綠能與環境研究所","weight":3.0},{"text":"機械","weight":3.0},{"text":"資通所","weight":2.0},{"text":"面板","weight":2.0},{"text":"文字轉語音","weight":2.0},{"text":"實習","weight":2.0},{"text":"無人機","weight":2.0},{"text":"生醫","weight":2.0},{"text":"3D","weight":2.0},{"text":"v2x","weight":2.0},{"text":"員工","weight":2.0},{"text":"地圖","weight":2.0},{"text":"太陽光電","weight":2.0},{"text":"材料與化工研究所","weight":1.0}]