基于熵概念的机器人动态误差理论的研究——误差源的研究及其对位姿方程的影响

Research on Robot Dynamic Accuracy Theory Based on Entropy Concept--Error Factors and Their Influence on Posture Equation

在前期工作所提出的基于熵概念机器人动态误差理论评价指标体系的基础上 ,本文针对动态误差理论误差因素的多重性和复杂性 ,对误差源的研究采用了机器人位姿误差的显著性分析方法 ,并以 SCARA机器人为例 ,通过对其 16个 DH参数的误差对操作手末端位姿的影响相对大小的分析 。

With the evaluation index system of robot dyna mic accuracy theory which is based on entropy concept, and considering the multi plicity and complexity of the factors to be considered about the error theory, t he error sources are studied by analyzing the error prominence factor for the ro bot posture error. With SCARA robot as an example, the applied equations are der ived that are necessary to duduce the index formulae through analyzing the influ ence of the errors of 16 DH parameters on the manipulator.