机器人砂带磨削系统作业精度分析与误差补偿

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齐立哲, 甘中学, 贠超, 汤青, 孙云权. 机器人砂带磨削系统作业精度分析与误差补偿[J]. 机器人, 2010, 32(6): 787-791,798.. QI Lizhe, GAN Zhongxue, YUN Chao, TANG Qing, SUN Yunquan. Working Accuracy Analysis and Error Compensation for Robotic Belt Grinding System. ROBOT, 2010, 32(6): 787-791,798..

摘要为了更好地反映及提高工业机器人砂带磨削系统的整体性能，通过分析机器人应用系统的特点，详细描述了工业机器人应用系统“作业精度”的含义及衡量标准．在此基础上，推导了机器人砂带磨削系统作业精度模型，设计了机器人砂带磨削系统作业误差测量工具及校准系统，建立了实际的机器人砂带磨削系统．通过实际的机器人磨削实验验证了方法的有效性．

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	齐立哲
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关键词 ：工业机器人, 作业精度, 砂带磨削, 作业误差补偿

Abstract：In order to reflect and improve the overall performances of industrial robotic belt grinding systems,the concept of working accuracy and its measurement method are proposed after analyzing the characteristics of industrial robot application systems.Based on this concept,the working accuracy model for the robotic grinding system is established and a novel method is proposed for measuring and compensating the working error.Meanwhile,a real robotic belt grinding system is built.The effectiveness of the proposed method is verified by experiments on a real robotic grinding workcell.

Key words： industrial robot working accuracy belt grinding working error compensation

收稿日期: 2010-02-02 录用日期: 2010-08-01

TP249

基金资助:国际科技合作项目（2008DFB70200）；国家863计划资助项目（2007AA04Z2443）

通讯作者: 齐立哲 E-mail: lizhe-qi@sohu.com

作者简介: 齐立哲（1981- ），男，博士生.研究领域：智能工业机器人，机器人视觉，机器人高级应用.

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I6/787

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