极坐标机器人操作器的线性补偿

LINEAR COMPENSATION OF MANIPULATOR FOR SPHERICAL COORDINATE ROBOT

  • 摘要: 本文以作者所在单位开发的极坐标三自由度电伺服机器人为例,讨论其运动学重复再现精度、操作器的线性及非线性补偿等问题.首先讨论运动学正问题的DH方法,指出运动学逆问题的奇异性并给出它的特解.进而重点讨论操作器的线性补偿问题,文章提出采用模型跟踪伺服系统的方法进行系统设计.关于机器人的非线性补偿问题,也提出了若干具体对策.最后,对于分辨能力、重复精度等问题文中做了一般性说明,并讨论了影响精度的各种因素.仿真和实验表明这种方案的合理和切实可行性.

     

    Abstract: In this paper,spherical coordinate robot is taken as example for studying kinematies,repeatability and linear compensation problems of manipulator.At first,theDH method of kinematics is studied and the singularity of the inverseproblem of kinematics is pointed out.Then,a design method of linear compensator with model following servo system is presented.At last,the resolution and repeatability problemsare illustrated.Simulation and the results of experiment show that linear compensa-tion is appropriate.

     

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