周学才, 郑时雄. 机器人动态位姿误差在工作空间的补偿算法[J]. 机器人, 1989, 11(5): 14-19..
ZHOU Xuecai, ZHENG Shixiong. COMPENSATION ALGORITHM IN THE TASK SPACE FOR DYNAMIC POSE ERROR OF A ROBOT. ROBOT, 1989, 11(5): 14-19..
Abstract:Starting from a theoretical pose model of the robot end effcctor and some actual conditions,we acquire the robot pose.Least-square method is employed to set up an effcctive method to compensate dynamic pose errors in robot task space.
[1] Payannft D, Aldon M J, Liegeois A. Identification and compensation of mechanical errors for industrial robots.15th ISIR, 1985:857-862
[2] Alok Kumar, Sunil Prakash. Analysis of mechanical errors in manipulators. Proc of The Sixth World Congress on Theory of Machines and Mechanisms, 1983:960-984
[3] Vaishnav R N, Magrab E B. A general procedure to evaluate robot positioning errors. The International Journal of Robotics Research, 1987, 6(1):59-74
[4] 郑时雄.谢存禧译.机召象人操作手:数学、编程与控翻.机械工业出版社.1986
[5] Foully'L P, Kelley R B. Improving the precision of a robot. IEEE 1st Internaional Conference on Robotics, 1984
[6] Sorenson H W. Parameter estimation. Marcel Dekker Ins, 1980
[7] 徐卫良,张启先.机器人误差分析的蒙特卡洛方法.机器人.1988;4:1-6
[8] 方昆凡等.公差与配合技术手册.北京出版社,1984