摘要
通过对 ６ 自由度施釉机器人位姿误差的分析，建立了施釉机器人的误差补偿模型，据之可以求出各关节的补偿摄动运动，为施釉机器人位姿误差的精确控制提供依据。
After the analysis of the position and posture error of six-degree-freedom glazing robot,this paper builds the model of perturbation compensation.This model can figure out how much theperturbation compensation motion of all joints makes so that it prorides the basis for precise control overthe position and posture error of six-degree-freedom glazing robot.
出处
《中国陶瓷》
CAS
CSCD
2004年第5期30-32,36,共4页
China Ceramics
基金
江西省科技攻关项目(20031G0004000)
关键词
施釉机器人
位姿误差
摄动补偿
建模
glazing robot, position and posture error, perturbation compensation, model building
