제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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- Pages.230-233
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- 1993
Relationship between motion speed and working accuracy of industrial articulated robot arms
- Goto, Satoru (Department of Electrical Engineering, Saga University) ;
- Nakamura, Masatoshi (Department of Electrical Engineering, Saga University) ;
- Kyura, Nobuhiro (Yaskawa Electric, Co., Ltd., Mechatro Laboratory)
- 발행 : 1993.10.01
초록
This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.
키워드