基于KUKA 6自由度机器人的误差分析与仿真

Error analysis and simulation based on KUKA six-degree robust

基于KUKA工业机器人对控制精度要求高的前提,在建立动力学和运动学模型的基础上进行专家PID和特定误差补偿研究,给机器人研究提供定性和定向研究,通过仿真验证了研究的正确性。

To meet the needs of high precision control to the KUKA robot, the expert PID and specific error compensation are studied based on both the dynamics and kinematics model. The qualitative and directional studies for the robust are offered and the simulation results verify the control strategies.