直接驱动机器人轴角的精密测量系统

Precise Joint Angle Measurement System for Direct Drive Robot

高精度轴角测量是直接驱动机器人系统的关键，文中使用以多极旋转变压器为测量元件测量直接驱动机器人的关节角，并在理论分析和实验的基础上对该方法存在的测量误差进行了修正，以实现对轴角的精密测量．

Precise joint angle measurement is a key-important technique for driect drive robot system. Using multiple resolver as joint angle measurement element,this paper carries out theoretical analysis and experimental research to correct the measurement error,as a result a hight precision measurement is achieved.