机器人位姿误差的显著性分析法

APPROACH TO THE ANALYSIS ON THE ERROR PROMINENCY OF ROBOTS

将误差理论中误差灵敏度的概念引入机器人学，提出了一种新的机器人位姿误差显著性分析法。此法可在整个工作空间内将机器人各单项误差对其末端位姿误差的综合影响定量地表示出来。通过对ＰＵＭＡ５６０机器人的计算机数字仿真研究，证明这一方法对于简化机器人误差模型与补偿算法、制定机器人的优化设计策略，具有事半功倍的效果。

Combining the concept of the error sensitivity with robotics, a new approach to the analysis on the error prominency factors of robots is proposed. In numerical quantities, it can express the synthetical influence on the pose error of the end effector resulted from every DH parameter errors within the whole working space of the robot. A numerical simulating research has made on PUMA560 model robot. It shows that the above approach can get twice the result with half the effort to the simplification of the error model and algorithm and to the decision on the optimum design of robots.