装配机器人位姿误差分析

彭商贤, 张平, 唐蓉城. 装配机器人位姿误差分析[J]. 机器人, 1988, 10(1): 14-18.

引用本文:

彭商贤, 张平, 唐蓉城. 装配机器人位姿误差分析[J]. 机器人, 1988, 10(1): 14-18.

PENG Shangxian, ZHANG Pin, TANG Rongcheng. Analysis of Pose Errors of Assembly Robot[J]. ROBOT, 1988, 10(1): 14-18.

Citation:

PENG Shangxian, ZHANG Pin, TANG Rongcheng. Analysis of Pose Errors of Assembly Robot[J]. ROBOT, 1988, 10(1): 14-18.

Analysis of Pose Errors of Assembly Robot

摘要: 本文运用微分平移和微分回转变换概念，按照概率方法分析机器人关节误差对装配机器人位姿误差的影响．给出了计算最大位姿误差的关系式和手部位姿误差的模型．

Abstract: This paper presents an analysis of pose errors of the end-effect of an assemblyrobot,by using the concepts of differential translation and rotation tiansformation.The mathematical models of ordinary pose errors and stochastic errors are derived.

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