Abstract
AbstractTo establish an efficient and scientific control sensor allocation process for industrial robots, a sensor allocation and optimization method based on dynamic parameters of robot joints was proposed. Based on the screw theory, the kinematics model of the robot was constructed, and the kinematics model was deduced according to the Lagrange equation, so as to determine the key dynamic parameters of the joints and the whole robot. According to the key dynamic parameters, the sensor types and allocation positions could be selected. The detection ability index, reliability, cost function, and the impact on robot motion were taken as the evaluation indexes of the sensor allocation problem. Then, considering all the actual constraints, the sensor allocation planning of the robot was made by combining the weight distribution method. Last, an example of the sensor allocation implementation process of the TA6R3 robot was demonstrated in detail.KeywordsIndustrial robotScrew theoryKey dynamic parametersLagrange equationSensor allocation planning
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