基于EWT-LSTM的工业机器人关节异常检测

蒋沁诚,陶建峰,王洋洋,张宇磊,刘成良

EWT-LSTM based industrial robot joint anomaly detection

Qincheng JIANG,Jianfeng TAO,Yangyang WANG,Yulei ZHANG,Chengliang LIU

表 3 工业机器人各关节的标准伺服参数

Tab.3 Standard servo parameter for each joint of industrial robot

关节编号 伺服参数 关节编号 伺服参数 1 Kp = 40, Ti = 50 4 Kp = 60, Ti = 30 2 Kp = 40, Ti = 50 5 Kp = 50, Ti = 50 3 Kp = 70, Ti = 50 6 Kp = 70, Ti = 20