机器人双手协调运动中的误差分析及补偿

Kinematic and Control Errors Analysis and Compensation In Coordinated-motion Control of Two Industrial Robots

本文首次分析了机器人双手协调运动中的动态与控制误差,导出了误差矩阵方程,据此提出了补偿算法,实验验证了算法的有效性,由于本算法并不局限于某一特定类型的机器人,因而具有较普遍的意义。算法已应用于机器人双手协调运动的实时控制,文中并对误差引起的目标物体变形进行了讨论。

In this Paper, kinematic and control errors in coordinated-motion control of two industrial robots are analyzed, and error equations are derived as well as compensation algorithm is presented. Experiment demonstrates that algorithm is effective. Because the algorithm is not developed for some special industrial robots, it can be widely applied to coordinated-motion control. The algorithm has been used in real time coordinated-motion control of two industrial robots. The object deforms resulted from kinematic and control errors are discussed in the paper.