孔宪文, 韩永国, 杨廷力. 机器人手部运动误差分析[J]. 机器人, 1993, 15(3): 7-12.
引用本文: 孔宪文, 韩永国, 杨廷力. 机器人手部运动误差分析[J]. 机器人, 1993, 15(3): 7-12.
KONG Xianwen, HAN Yongguo, YANG Tingli. KINEMATIC ERROR ANALYSIS OF ROBOTS[J]. ROBOT, 1993, 15(3): 7-12.
Citation: KONG Xianwen, HAN Yongguo, YANG Tingli. KINEMATIC ERROR ANALYSIS OF ROBOTS[J]. ROBOT, 1993, 15(3): 7-12.

机器人手部运动误差分析

KINEMATIC ERROR ANALYSIS OF ROBOTS

  • 摘要: 本文首先引入三阶影响系数,进而系统地导出了串联机器人及并联机器人手部位姿误差、位姿速度误差、位姿加速度误差分析的显表达式,推导过程简明、形式简单,便于编程.最后给出了计算示例.

     

    Abstract: In this paper,the third-order influence coefficient for serial robots is defined,and then explicit expressionsfor pose errors,pose velocity errors and pose acceleration errors in the hands of serial and parallel robots arederived systematically for the firsttime.The derivation is concise and all formulae are convenient for pro-graming.At last.an illustrative example is given.

     

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