| 摘要 |
The device for compensating the elastic strain in the arm of a robot that performs fittings of high accuracy consists of the robot arm (1) on which the resistive electro-strain transducers (2) are mounted, linked to a strain bridge (3) that conveys a signal to the analogue-digital converter (4) and then into a computer (5) that, depending on the input signal, determines the force, the position of the arm and its elastic strain, directs supplemental excursions, in order to compensate for the position errors induced by such strain, by correcting the dynamic conditions (velocity and acceleration values) in order to prevent vibrations, controlled by means of an analogue-digital converter (6), an amplifier (7) and servo-engines (8).
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