摘要
在建立机器人误差模型的基础上,利用机器人齐次座标变换中的重要特点,提出了一种简便实用的位姿误差校正方法。该方法与机器人精度测试相结合可提高机器人位姿精度.并以PUMA560机器人为例说明了该方法。
In this paper,the effect of joint kinematic parameters and geometricparameters on the robot pose accuracy is analyzed,and a robot error model isconstructed,by which a practical error compensation method is presented from thecharacteristics of Homogeneous transformation.This compensation method in coopera-tion with accuracy measurements can improve the robot pose accuracy.At last,aPUMA560 robot is taken as an example to explain the compensation method.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1993年第1期77-82,共6页
Journal of Harbin Institute of Technology
