机器人手臂误差分析及误差补偿

本文对机器人手臂的误差和影响误差的因素作了分析,建立起机器人夹持器(手)的运动误差与各种原始误差的函数式,文章着重于推导作为误差传递函数的各种偏导数矩阵,得到了统一的表达式。这种形式特别适合电子计算机计算。文章最后讨论了误差补偿方法和导出了补偿计算的公式。

The Error Analysis and Error Compensation of Robot Manipulator

An analysis on error and related factors of robot manipulators is presented in this paper.The relations between errors of the end effect of the robot and all original errors are set up.A variety of partial derivative matrix as error transfer functions has been derived, and they can be expressed is a unifying form.The method fo error compensation is then discussed as well in this paper.