工业机器人位姿误差的计算

A Method for Calculating Position and Orientation Errors of Industrial Robot

机器人连杆的加工误差、温度变化以及机械传动误差等诸多因素会导致机器人抓手的位置和姿态产生误差。本文以机器人运动学及误差理论为基础 ,推导出了在各种位姿描述情况下机器人位置和姿态误差的计算公式。

The position and orientation errors of the robot end effector are caused by a number of factors such as tolerances in manufacturing and assembly, mechanical transfer errors and so on. On the basis of the robot kinematics and the theory of errors, formulas for calculating the position and orientation errors of the robot end effector are derived. They can be used to analyze the position accuracy and orientation accuracy of various industrial robots.