摘要
误差建模的摄动法,即直接对机构中各种原始误差的小位移矢量进行合成,建立机器人手部位姿误差模型.它摈弃了其他误差建模方法均需要的微分运算,并能分析多种原始误差产生的机器人手部位姿误差.用该法建立的误差模型简单且物理意义清楚.作为例题,文中建立了 PUMA560型机器人的误差模型.
A perturbation approach to error modeling of robot linkage is presented in this paper,by which poseerror models of a robot linkage can be established through combining the small displacement vectors of allsource errors.The pose error due to various kinds of source errors,such as the clearances and the axesaberrations of joints,can be analysed withoat any differentiation which is required in other methods.Errormodels obtained from the perturbation approach are simple and their physical concept is obvions.For il-lustration,error modeling of a PUMA 560 robot linkage is made.
出处
《机器人》
EI
CSCD
北大核心
1989年第6期39-44,48,共7页
Robot
关键词
机器人机构
误差
建模
摄动
robot linkage
error
modeling
perturbation
