摘要
针对工业机器人智能装备服役状态感知检测手段、智能控制能手段有限的问题,以工业机器人智能铣削装备为研究对象,设计一种数字孪生驱动模型构建方法。采用L-M算法对关键参数进行修正,使孪生模型对装备铣削轨迹的映射准确度从1.32 mm提高到0.15 mm,提高了近80%,验证了孪生驱动模型建立的正确性和关键参数修正的必要性。
For the limited means of existing industrial robot intelligent equipment service state perception and detection and intelligent control energy,taking industrial robot intelligent milling equipment as the research object,designs a digital twin drive model construction method.L-M algorithm is applied to correct the key parameters,so that to increase the twin model mapping accuracy of the equipment milling trajectory to 0.15 mm from 1.32 mm,with an increase of nearly 80%,which verifies the correctness of twin-driven model building and the necessity of key parameter correction.
作者
马创业
田威
胡俊山
康瑞浩
何晓煦
MA Chuangye;TIAN Wei;HU Junshan;KANG Ruihao;HE Xiaoxu(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械制造与自动化》
2023年第4期160-163,共4页
Machine Building & Automation
基金
国家重点研发计划项目(2019YFB1707403)。
关键词
数字孪生
工业机器人
建模参数修正
铣削加工
digital twin
industrial robot
modelling parameter correction
milling machinig
