| 机器人理论关节参数的标定方法及软件设计 |
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| 引用本文： | 周学才,谢存禧.机器人理论关节参数的标定方法及软件设计[J].机器人,1991,13(4):47-54. |
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| 作者姓名： | 周学才 谢存禧 |
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| 作者单位： | 葛洲坝水电工程学院 中国科学院机器人学开放研究实验室
(周学才)，华南理工大学 广州(谢存禧) |
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| 摘 要： | 本文研究了机器人机构理论控制模型中采用的D-H关节参数的标定方法,并编制了相应的计算机应用软件。应用这一方法和软件标定机器人的理论关节参数,对机器人实施误差综合补偿,提高机器人的精度,是特别重要的。对PUMA 562机器人进行了实测与标定。
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| 关 键 词： | 机器人 关节参数 程序设计 标定 |
CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS |
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| ZHOU Xuecai,XIE Cunxi Dept. of Mech Engng,Gezhouba Inst. of Hydroclectic Engng,Yichang, Robotics Lab.,Chinese Academy of Science Ist Dept. of Mech. Engng,Huanan Univ. of Science and Technology,Guangzhou.CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS[J].Robot,1991,13(4):47-54. |
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| Authors: | ZHOU Xuecai XIE Cunxi Dept of Mech Engng Gezhouba Inst of Hydroclectic Engng Yichang Robotics Lab Chinese Academy of Science Ist Dept of Mech Engng Huanan Univ of Science and Technology Guangzhou |
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| Abstract: | A new calibration method for the D-H link parameters used in a theoretical model of robot mecha-nisms is studied in this paper.And based on the method, a corresponding computer software is then devel-oped. The application of this method and the software are useful and especially important for those pur-poses of enhancing robot accuracies and of carrying out a scheme or synthetical error compensation of ro-bots. In addition, an example of the calibration of the link parameters for PUMA 562 robot is supplied tothe paper, and some satisfactory results are obtained from the computer output. |
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| Keywords: | robot mechanism robot accuracy link parameters error compensation |
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