机器人运动误差和动力误差模型

Kinetic and Dynamic Error Model of Robot Manipulators

  • 摘要: 本文根据机器人开式链的特点,分析了机器人各关节的间隙,构件的加工装配误差、输入参数的误差以及构件的弹性振动变形对机器人运动学和动力学方程的影响.特别是对机器人末端执行器位置、速度和加速度的影响,并且推导了考虑这些因素的机器人运动递推方程,建立了机器人运动误差和动力误差模型.最后讨论了在机器人的设计中如何减小机器人的误差以及在控制系统中用软件进行误差补尝的方法.

     

    Abstract: Based on the recurrence of robotic open chain mechanism,this paper analyzesthe effects of the clearance and assembly error of the joints,error of the roboticlinks and the links deformation due to vibration on the kinematic and dynamic equati-ons of robot,particularly on the pose,speed and acceleration of the end effector.And the kinematic and dynamic error models of robot are derived.Finally,a sugges-tion to decrease the error in design and compensate the error on the control soft-ware is given.

     

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