基于双编码器设计的机器人关节定位精度分析

Accuracy Analysis of Joint Positioning of Robot Arm Based on Double Encoder Design

机器人关节绝对定位精度受到多种因素影响,往往很难获得较高的关节定位精度,从而影响整个机器人的精度。介绍一种基于双编码器设计的机器人关节,该设计中包含电机端的增量式角度编码器以及减速机输出端的绝对值角度编码器,分别用于提高关节的转速控制精度及绝对转角控制精度。该关节形式对于机器人整臂绝对定位精度的提高具有十分重要的意义。

The absolute joint positioning accuracy of the robotic arm is affected by many factors,and it is often difficult to obtain a high absolute positioning accuracy,which in turn affects the accuracy of the entire arm.In this paper,a robotic arm joint based on double encoder design includes an incremental encoder on the motor end and an absolute encoder on the output of the reducer,which are used to improve the precision of controlling the joint speed and absolute corner.This joint is of great significance for the improvement of the absolute positioning accuracy of the whole robotic arm.