周学才, 张启先, 郑时雄. 一种新的机器人机构距离误差模型及补偿算法[J]. 机器人, 1991, 13(1): 44-49.
引用本文: 周学才, 张启先, 郑时雄. 一种新的机器人机构距离误差模型及补偿算法[J]. 机器人, 1991, 13(1): 44-49.
ZHOU Xuecai, ZHANG Qixian, ZHENG Shixiong. A NEW MODEL WITH COMPENSATION ALGORITHM FOR DISTANCE ERRORS OF ROBOT MECHANISMS[J]. ROBOT, 1991, 13(1): 44-49.
Citation: ZHOU Xuecai, ZHANG Qixian, ZHENG Shixiong. A NEW MODEL WITH COMPENSATION ALGORITHM FOR DISTANCE ERRORS OF ROBOT MECHANISMS[J]. ROBOT, 1991, 13(1): 44-49.

一种新的机器人机构距离误差模型及补偿算法

A NEW MODEL WITH COMPENSATION ALGORITHM FOR DISTANCE ERRORS OF ROBOT MECHANISMS

  • 摘要: 在标定机器人绝对位置精度和实施误差综合补偿过程中,必然涉及到测量系统坐标系与机器人基础坐标系间的变换.由于这一变换很难精确测定.从而给机器人绝对位置精度标定与误差补偿带来了难以克服的困难.本文首次提出了一种新的机器人机构距离误差计算模型及补偿算法,论证了距离误差同样可以作为机器人绝对位置精度的一种度量.利用该模型和算法对机器人进行误差分析和实施误差综合补偿,可避开上述测量系统与机器人系统间的坐标变换,从而简化了机器人绝对位置精度的标定过程,为提高机器人的绝对位置精度开辟了一个新的简便的途径.

     

    Abstract: We develop this new model with compensation algorithm and prove the fact that the distance errorcan be used as a description of the absolute position accuracy. Thus the transformation between the measuring coordinate system and the robot base frame can be avoided so that the calibration process of the absolute position accuracies of the robots is simplified. And this advantage makes a new way to thecnhancement of the absolute position accuracies of the robots.

     

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