The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 15, 2024
Filed:
Oct. 08, 2019
Nanjing University of Aeronautics and Astronautics, Nanjing, CN;
Wei Tian, Nanjing, CN;
Jiachen Jiao, Nanjing, CN;
Wenhe Liao, Nanjing, CN;
Bo Li, Nanjing, CN;
Lin Zhang, Nanjing, CN;
Guangyu Cui, Nanjing, CN;
Quan Bai, Nanjing, CN;
NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, Jiangsu, CN;
Abstract
Disclosed is a variable-parameter stiffness identification and modeling method for an industrial robot. An effective working space of a robot is divided into a plurality of cubic regions. For an operating task in a certain machining region, different loads are applied to an end effector at multiple positions and multiple postures in the region, and robot joint stiffness in this section is identified and acquired according to the relationship between the loads and an end deformation, thereby realizing accurate stiffness control of the robot in different operating sections during a machining process.