空间机械手末端位姿修正模型构建方法

Building method of end position and posture modification model of space manipulator

为了有效减小空间机械手的末端位姿误差,通过分析误差来源,该文提出了基于BP神经网络的空间机械手末端位姿修正模型构建方法,设计了关节转角系统误差、关节转角随机误差、末端位姿系统误差和末端位姿随机误差共4类数据对该方法进行验证。仿真结果表明,该方法构建的修正模型是有效的,能够大幅提高末端位姿精度。

In order to effectively reduce the error of end position and posture of space manipulator, in this paper, building method of end position and posture modification model of space manipulator based on BP is presented and system error, random error of joint angle and that of end position and posture are designed to verify this building method.The simulation results show that this modification model built by this method is effective and it can greatly improve the accuracy of the end position and posture.