库卡KUKA机器人资料mechanic_tools_for_payload_en.pdfVIP

Loaddatadetermination

Loaddatadetermination

KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:+49(0)821/4533-1906,Fax:+49(0)821/4533-2340,http://www.kuka-roboter.de

I20.11.2003ICollegeISGI1

©CopyrightbyKUKARoboterGmbHCollege

Loaddatadetermination

Whatareloaddata?

Thetermloaddataisusedtosignifythemass,centerofgravityandprincipal

momentsofinertiaoftheloadmountedontherobotflange,e.g.gripper,welding

gun,etc.

ThesedataarestoredinaLOADstructureandrepresentedintheprogramby

$LOAD”.

Loaddataaredefinedwiththefollowingparameters:

➢Mass:minkg

➢Distancetocenterofgravity:L,L,Linmm

xyz

➢Principalmomentofinertia:J,J,Jinkgm²

xyz

KUKARoboterGmbH,Hery-Park3000,D-86368Gersthofen,Tel.:+49(0)821/4533-1906,Fax:+49(0)821/4533-2340,http://www.kuka-roboter.de

I20.11.2003ICollegeISGI2

©CopyrightbyKUKARoboterGmbHCollege

Loaddatadetermination

Whatisloaddatadetermination?

Thedatacanbedeterminedquicklyandconvenientlyusingthisspecial

measurementprogramformassidentification.

Thisisdonebycarryingoutcertainmeasurementmotionswithaloadmounted

ontherobotandrecordingthecurrentsresultingfromtheaxismotortorque