| 码垛机器人运动定位误差补偿 |
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| 引用本文： | 童上高,李权峰,龚潇,何明超,栾楠.码垛机器人运动定位误差补偿[J].组合机床与自动化加工技术,2012(5):65-69. |
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| 作者姓名： | 童上高 李权峰 龚潇 何明超 栾楠 |
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| 作者单位： | 1. 上海沃迪科技有限公司,上海,201114
2. 上海交通大学机械与动力工程学院,上海,200240 |
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| 摘 要： | 针对国产码垛机器人绝对定位精度不高的现状,以现有码垛机器人为研究对象,构建位姿误差模型,分析主要的误差来源.并根据实验实测数据与模型相结合的方法,给出误差补偿算法,实现定位精度的优化设计.
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| 关 键 词： | 码垛机器人 绝对定位精度 补偿 |
Research on Motion Position Error Compensation of Stacking Robot |
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| TONG Shang-gao
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LI Quan-feng
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GONG Xiao
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HE Ming-chao
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LUAN Nan.Research on Motion Position Error Compensation of Stacking Robot[J].Modular Machine Tool & Automatic Manufacturing Technique,2012(5):65-69. |
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| Authors: | TONG Shang-gao LI Quan-feng GONG Xiao HE Ming-chao LUAN Nan |
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| Affiliation: | 1.Shanghai Triowin Tech Company,Shanghai 201114,China;2.Mechanical Institute of Shanghai JiaoTong University,Shanghai 200240,China) |
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| Abstract: | In order to improve the absolute position precision of stacking robot,an error model is built based on current stacking robots.This model is designed to analyze the main sources of error.Furthermore,an error compensation algorithm would be available by using the model with experimental data,which helps to realize the optimization design of positioning accuracy. |
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| Keywords: | stacking robot absolute position precision compensation |
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