There is an imperfection in the accuracy indicators system and the technical parameters system in IEC standards 62053-21 implemented for watt-hour meters currently. This article quoted some parts of OIML MI-003 and R4...There is an imperfection in the accuracy indicators system and the technical parameters system in IEC standards 62053-21 implemented for watt-hour meters currently. This article quoted some parts of OIML MI-003 and R46 contents to provide a reference of the integrity comparison between the accuracy system and technical parameter system. The comparison result shows that the watt-hour meter accuracy technical indicators system of OIML R46 is more integrated. First reason is that it determines all the accuracy （basic error） defining rules just by using the technical parameter I efficiently; secondly, it can solve the contradiction that no error regulation of the range from starting current to minimum current in the process of providing, handing over and checking watt-hour meter products＇ qualities efficiently. Please pay close attention to the R46 official version which will be released soon, as it is still in the Committee Draft （CD6） stage currently.展开更多
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction bet...The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.展开更多
文摘There is an imperfection in the accuracy indicators system and the technical parameters system in IEC standards 62053-21 implemented for watt-hour meters currently. This article quoted some parts of OIML MI-003 and R46 contents to provide a reference of the integrity comparison between the accuracy system and technical parameter system. The comparison result shows that the watt-hour meter accuracy technical indicators system of OIML R46 is more integrated. First reason is that it determines all the accuracy （basic error） defining rules just by using the technical parameter I efficiently; secondly, it can solve the contradiction that no error regulation of the range from starting current to minimum current in the process of providing, handing over and checking watt-hour meter products＇ qualities efficiently. Please pay close attention to the R46 official version which will be released soon, as it is still in the Committee Draft （CD6） stage currently.
文摘The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.
