基于EWT-LSTM的工业机器人关节异常检测

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 4 工业机器人各关节异常实验组的伺服参数设置

Tab.4 Servo parameter setting of experimental group for abnormal joint of industrial robot

实验组编号	关节编号	伺服参数
1	1	K_p = 10, T_i = 50
2	1	K_p = 25, T_i = 50
3	1	K_p = 55, T_i = 50
4	1	K_p = 70, T_i = 50
5	2	K_p = 10, T_i = 50
6	2	K_p = 25, T_i = 50
7	2	K_p = 55, T_i = 50
8	2	K_p = 70, T_i = 50
9	3	K_p = 10, T_i = 50
10	3	K_p = 25, T_i = 50
11	3	K_p = 40, T_i = 50
12	3	K_p = 55, T_i = 50
13	4	K_p = 10, T_i = 30
14	4	K_p = 25, T_i = 30
15	4	K_p = 40, T_i = 30
16	4	K_p = 70, T_i = 30
17	5	K_p = 10, T_i = 50
18	5	K_p = 25, T_i = 50
19	5	K_p = 60, T_i = 50
20	5	K_p = 70, T_i = 50
21	6	K_p = 10, T_i = 20
22	6	K_p = 25, T_i = 20
23	6	K_p = 40, T_i = 20
24	6	K_p = 55, T_i = 20