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REALIZATION METHOD OF A ROBOT DYNAMICS MODEL FOR CALCULATING NATURAL FREQUENCIES IN REAL TIME, CAPABLE OF OBTAINING NATURAL FREQUENCY OF EACH OF DRIVING SHAFT ACCORDING TO POSTURE OF A ROBOT AND LOAD CONDITIONS IN REAL TIME
REALIZATION METHOD OF A ROBOT DYNAMICS MODEL FOR CALCULATING NATURAL FREQUENCIES IN REAL TIME, CAPABLE OF OBTAINING NATURAL FREQUENCY OF EACH OF DRIVING SHAFT ACCORDING TO POSTURE OF A ROBOT AND LOAD CONDITIONS IN REAL TIME
PURPOSE: A realization method of a robot dynamics model for calculating natural frequencies in real time is provided to calculate accurately natural frequency varying load conditions in real time and shorten time for realizing a dynamic model.;CONSTITUTION: A realization method of a robot dynamics model for calculating natural frequencies in real time is as follows. Actual natural frequency is measured according to a robot posture and a load condition(S40). Stiffness of a speed reducer is set up to obtain measured natural frequency. The robot dynamics model is completed depending on stiffness of the speed reducer(S60,S70).;COPYRIGHT KIPO 2010
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