共查询到19条相似文献,搜索用时 78 毫秒
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韩雪 《中国新技术新产品》2013,(21)
工业机器人各关节运动描述常常使用齐次坐标变换矩阵来表述末端执行器相对机座的位姿变化,运动功能位姿矩阵是描述这种变化的方法之一。本文在介绍相关定义基础上详细论述了机器人运动功能位姿矩阵的构成并举例分析了如何列出该矩阵。 相似文献
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为满足带有不同末端执行器的工业机器人系统的绝对位姿检测需求,提出一种通用的检测方法。其基本原理是以激光跟踪仪测量固定在机器人末端的4个参考点从而间接测量机器人的绝对位姿,并与指令位姿比较实现机器人位姿准确度和位姿重复性检测;其中,参考点坐标及机座坐标系通过多姿态约束同步标定,并设计非线性标定算法。通过末端带有制孔执行器的KUKA KR210 R2700工业机器人的位姿检测实验表明:该检测方法的准确性可满足机器人位姿检测的需要,且无需特殊的机械工装,具有良好的通用性;基于多姿态约束的非线性标定方法具有良好的鲁棒性,可有效的减小因机器人运动模型不准确引起的标定误差。 相似文献
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针对股骨颈骨折空心钉手术中的空间定位问题,提出了一种基于射影变换的双平面空间定位算法,并为其建立了数学模型;在此基础上,采用蒙特卡罗法对定位算法的精度进行了理论推导,并用Matlab对系统精度进行了仿真,对仿真结果进行了分析,得到了系统精度;分组比较了定位算法中各输入量对算法精度的影响程度,并对误差分布规律进行仿真,得到误差分布规律.仿真发现当目标点处于两参考坐标系平面之内,且标记点靠近X光发射源时精度较高,本文依据上述分析结果从标尺结构、图像采集和物理量的优化等方面提出定位算法修改建议. 相似文献
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小型股骨颈辅助手术机器人模糊构型规划建模 总被引:1,自引:1,他引:0
针对微创股骨颈手术中医生的手术操作与机器人工作空间发生干涉的问题,进行了导航机器人构型模糊规划建模的研究,提出了一种机器人数字化构型设计的新方法.首先通过形体构造集的分析对手术过程提取规划空间值.其次,构建该导航机器人构型拓扑结构,提取构型特征参数,建立该机器人的模糊规划模型.最后,围绕微创股骨颈导航机器人的开发实例,进行规划模型的求解验证.实例证明:模糊规划应用于机器人的构型设计,能直接从规划变量中得到构型设计的特征参数值.这项研究开拓了模糊理论在构型设计中的应用. 相似文献
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在分析差动驱动的轮式移动机器人运动学模型基础上,针对双编码盘定位方案推导出机器人的位姿辨识算法,应用该算法可以实时计算出双码盘定位机器人的位姿坐标。 相似文献
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S. I. Donchenko O. V. Denisenko M. Sh. Nasibulin V. N. Fedotov 《Measurement Techniques》2007,50(11):1149-1153
The article considers the use of a simulator of the signals from space navigation systems for the purpose of determining the
errors of end-user navigation equipment. Computational relationships for determining the simulation errors of navigation signals
and the results of experimental investigations are presented.
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Translated from Izmeritel’naya Tekhnika, No. 11, pp. 17–20, November, 2007. 相似文献
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V. N. Aju kumar O. P. Gandhi 《Quality and Reliability Engineering International》2011,27(8):1145-1172
Assessment of human error in maintenance requires identification of the contributing factors that lead to human error(s). These factors are called human error inducing factors (HEIFs), which take into consideration both the active and latent error contributing aspects related to man, machine and environment. A systems approach of the Graph Theory is applied in this paper for quantifying human error in maintenance activities that models the identified factors and their interactions/interrelationships in terms of human error digraph. The nodes in the digraph represent the HEIFs and the edges represent their interrelationships. The digraph is converted into an equivalent matrix and an expression based on this is developed, which is characteristic of the human error in maintenance. This expression is used to evaluate a human error index by substituting the numerical value of the factors and their interrelations. The index is a measure of the human error potential involved in the maintenance of systems. A higher value of index indicates that the error likelihood is more for the associated tasks, and more efforts are required to make the system less prone to human error. The proposed methodology is illustrated using a case study. The approach is anticipated to play a significant role in identifying sources of human errors and predicting their impact; and will help to integrate human factors during design stage with the objective of reducing human error in maintenance. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
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为了解决多自由度汽车电动座椅出厂位姿调整过程中的耦合问题,消除座垫不规则表面对调整过程的影响,实现座椅位姿的快速调整,提出了一种基于控制变量法的座椅位姿调整方法。首先,根据座垫表面的拟合曲线和座椅的几何结构,建立参考坐标系并分析座椅外部轮廓上的点与当前运动关节的转角或位移之间的数学关系。然后计算出座椅的当前位姿并给出调整方案。最后,通过仿真和实验验证了所提方法的可行性。仿真和实验结果表明:该方法能够消除座垫不规则表面和关节耦合对调整过程的影响,同时能提高调整的准确度和效率。研究结果对改进汽车电动座椅出厂位姿调整方法和提高座椅调整效率有一定的参考意义。 相似文献
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Industrial robots are widely used in various areas owing to their greater degrees of freedom (DOFs) and larger operation space compared with traditional frame movement systems involving sliding and rotational stages. However, the geometrical transfer of joint kinematic errors and the relatively weak rigidity of industrial robots compared with frame movement systems decrease their absolute kinematic accuracy, thereby limiting their further application in ultraprecision manufacturing. This imposes a stringent requirement for improving the absolute kinematic accuracy of industrial robots in terms of the position and orientation of the robot arm end. Current measurement and compensation methods for industrial robots either require expensive measuring systems, producing positioning or orientation errors, or offer low measurement accuracy. Herein, a kinematic calibration method for an industrial robot using an artifact with a hybrid spherical and ellipsoid surface is proposed. A system with submicrometric precision for measuring the position and orientation of the robot arm end is developed using laser displacement sensors. Subsequently, a novel kinematic error compensating method involving both a residual learning algorithm and a neural network is proposed to compensate for nonlinear errors. A six-layer recurrent neural network (RNN) is designed to compensate for the kinematic nonlinear errors of a six-DOF industrial robot. The results validate the feasibility of the proposed method for measuring the kinematic errors of industrial robots, and the compensation method based on the RNN improves the accuracy via parameter fitting. Experimental studies show that the measuring system and compensation method can reduce motion errors by more than 30%. The present study provides a feasible and economic approach for measuring and improving the motion accuracy of an industrial robot at the submicrometric measurement level.The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-022-00400-6 相似文献
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数字式电子水平仪节距法测量平直度时,其测量不确定度的主要来源有示值误差,数显量化误差,测量重复性,定位误差等四项。本文讨论定位误差的估算,分析影响定位误差的主要因素,并提出抑制定位误差的方法。 相似文献
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介绍了坐标测量机测量齿轮形位偏差不确定度的评估思路及计算方法,通过试验找出了坐标测量机测量齿轮参数的主要不确定度来源,并阐述了提高测量准确度的途径及如何确定被测齿轮的精度级别。 相似文献