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.
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.
ZHOU Xuecai, XIE Cunxi. CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS[J]. ROBOT, 1991, 13(4): 47-54.
Citation: ZHOU Xuecai, XIE Cunxi. CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS[J]. ROBOT, 1991, 13(4): 47-54.

机器人理论关节参数的标定方法及软件设计

CALIBRATION METHOD AND SOFTWARE DESIGN FOR THEORETICAL LINK PARAMETERS OF ROBOTS

  • 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.

     

    Abstract: A new calibration method for the D-H link parameters used in a theoretical model of robot mechanisms 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 purposes of enhancing robot accuracies and of carrying out a scheme or synthetical error compensation of robots. 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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