摘要
提出一种基于 3个激光发生器和 3个激光位置检测器 (PSD)的挠性构件动态误差测量方法 ,该法可以测量除杆长方向外的 5个变形分量 ,且光路和测量模型简单 ;建立了 PSD上光点位置与构件各误差分量及机器人末端执行器动态误差之间的关系 ,并给出其补偿控制方法。
A method for measuring dynamic errors of a flexible link is presented, which is based on three laser-optical generators and three position sensitive detectors (PSD). The method can be used to measure five deflective components except the elongating one of the link. The relationships among the positions of optical points on PSD and deflective components of the link and the dynamic errors of the end-effector of a flexible manipulator are formulated. A control law is given to compensate the dynamic errors of the end-effector.
出处
《机械科学与技术》
EI
CSCD
北大核心
2001年第2期251-252,共2页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金资助项目! (5 95 85 0 0 3 )
关键词
挠性机器人
动态误差
激光测量
误差补偿
Flexible manipulator
Dynamic error
Laser-optical measurement
Error compensation
