机械手精度的稳健性分析与误差补偿

Robustness Analysis and Error Compensation of Manipulator Accuracy

为了提高机械手的设计精度,引进了模糊稳健分析方法,推导出了基于模糊稳健设计的机械手手部位姿误差综合精度设计方法,提出了机械手位姿误差补偿公式。最后以示例说明所述方法的应用。

The analysis of fuzzy model robustness is introduced in order to improve the designed accuracy for manipulator. On the base of a synthesis model for the pose error of manipulator and fuzzy analysis, a new accuracy design is deduced. On the other hand, compensation for the pose error of manipulator with its formulas is presented. An example of manipulator is considered for illustration in the end. As long as the methods are generalized to the common manipulator design, their values of theory and practice are remarble.