| 油罐内喷漆机器人位姿误差补偿的摄动建模与仿真 |
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| 引用本文： | 温何 惠延波. 油罐内喷漆机器人位姿误差补偿的摄动建模与仿真[J]. 机械科学与技术, 1998, 17(2): 262-264,267 |
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| 作者姓名： | 温何 惠延波 |
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| 作者单位： | 西安理工大学，西安交通大学 |
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| 摘 要： | 从摄动齐次变换出发，通过对机构各原始误差的小位移矢量进行合成，系统讨论了机器人手部的位姿误差。进一步通过将补偿摄动运动在各单自由度关节上的分配，建立了ＬＸＲ－Ⅱ型内喷式机器人的误差补偿模型。对系统补偿前后的位姿精度进行了仿真。
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| 关 键 词： | 机器人 误差补偿 建模 摄动 |
Perturbing Modeling and Simulation of Inner Spray Painting Robot |
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| Wen He Hui Yanbo Liu Shanshan. Perturbing Modeling and Simulation of Inner Spray Painting Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 1998, 17(2): 262-264,267 |
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| Authors: | Wen He Hui Yanbo Liu Shanshan |
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| Affiliation: | Wen He 1 Hui Yanbo Liu Shanshan |
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| Abstract: | This paper discusses the posture errors of robot hand through the homogenous translation of perturbation and composition of the small displacements of mechanism. Form distributing the compensation perturbation movement over each single freedom joint, the error compensation model for LXR Ⅱ Robot is established and simulated. |
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| Keywords: | Robot Irror compensation Model established Perturbation |
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