Мақаланы E-mail арқылы жіберу Modeling of an automated system for correction of the tool center point displacement of an industrial robotic manipulator during the execution of technological operations along a complex curved contour
- Авторлар: Sazonnikova N.A.1, Ilyukhin V.N.1, Ermakov E.K.1, Mezentsev D.A.2
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Мекемелер:
- Samara National Research University
- Samara State Medical University (SamSMU)
- Шығарылым: Том 11, № 1 (2025): 30.04.2025
- Беттер: 14-26
- Бөлім: Articles
- URL: https://bakhtiniada.ru/2409-4579/article/view/312369
- DOI: https://doi.org/10.18287/2409-4579-2025-11-1-14-26
- ID: 312369
Дәйексөз келтіру
Толық мәтін
Аннотация
The implementation of robotic systems significantly increases the productivity and safety of manufacturing processes. However, robotic manipulators do not always provide high precision in performing technological operations due to kinematic errors. The development of a correction system should take into account the specifics of the performed operations to ensure the required accuracy. This paper presents numerical modeling of a system for incremental forming based on the KUKA KR90 R2700 manipulator robot and the API Radian R-20 laser tracker integrated into the complex to improve the accuracy of positioning the tool center point of the manipulator robot. Additionally, a methodology for improving the positioning accuracy of the robot is proposed, a mathematical model of the robot control system is constructed, and the effectiveness of the selected methodology is evaluated.
Негізгі сөздер
Авторлар туралы
Nadezhda Sazonnikova
Samara National Research University
Хат алмасуға жауапты Автор.
Email: nasazonnikova@yandex.ru
Doctor of Science (Engineering), Professor of the Department of Automatic Systems of Power Plants named after Academician of the RAS Vladimir Pavlovich Shorin
Ресей, SamaraVladimir Ilyukhin
Samara National Research University
Email: iwnik@yandex.ru
Candidate of Science (Engineering), Associate Professor of the Department of Automatic Systems of Power Plants named after Academician of the RAS Vladimir Pavlovich Shorin
Ресей, SamaraEgor Ermakov
Samara National Research University
Email: ermk.egor@yandex.ru
Postgraduate Student of the Department of Automatic Systems of Power Plants named after Academician of the RAS Vladimir Pavlovich Shorin
Ресей, SamaraDmitriy Mezentsev
Samara State Medical University (SamSMU)
Email: cururum@mail.ru
Electronics engineer of the electronic department of the engineering center of SamSMU
Ресей, SamaraӘдебиет тізімі
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