| 基于机构精度通用算法的机器人位姿误差分析 |
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| 引用本文： | 熊青春,王健强. 基于机构精度通用算法的机器人位姿误差分析[J]. 机电产品开发与创新, 2005, 18(6): 6-8 |
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| 作者姓名： | 熊青春 王健强 |
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| 作者单位： | 合肥工业大学,机械与汽车工程学院,安徽,合肥,230009 |
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| 摘 要： | 在Denavit-Hartenberg参数法建立的机器人末端位姿变换方程的基础上,利用机构通用精度算法建立了机器人末端位姿误差模型。通过矩阵运算,建立了机器人末端位姿误差与各杆件运动学参数误差之间的函数关系式。在SCARA机器人上的实验表明,用此方法建立的误差模型进行误差标定和补偿,可以提高机器人的定位精度。
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| 关 键 词： | Denavit-Hartenberg参数法 位姿误差 |
| 文章编号： | 1002-6673（2005）06-006-03 |
| 收稿时间： | 2005-08-22 |
| 修稿时间： | 2005-08-22 |
The Analyse for Location Error of Robot Which Based On The General Arithmetic of Machine-Precision |
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| XIONG Qing-Chun,WANG Jian-Qiang. The Analyse for Location Error of Robot Which Based On The General Arithmetic of Machine-Precision[J]. Development & Innovation of Machinery & Electrical Products, 2005, 18(6): 6-8 |
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| Authors: | XIONG Qing-Chun WANG Jian-Qiang |
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| Affiliation: | School of Machinery and Automobile Engineering, Hefei University of Technology, Hefei Anhui 230009, China |
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| Abstract: | In this paper,a method which analysing the location error of robot is introduced .It is based on the general arithmetic of machine-precision.The experiment shows that this method can improve the orientation precision of robot. |
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| Keywords: | Denavit-Hartenberg notation location error |
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