一种水准测量方法及其在机器人系统中的应用

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI:10.1109/ROBIO.2017.8324687

Cheng Li, H. Gu

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摘要

在精密装配任务中，调平误差对最终对准精度至关重要，需要对其进行检测和补偿。本文提出了一种简便、节约成本的找平测量方法。研究了机器人系统的参数灵敏度，阐述了机器人系统的调平补偿方法。通过实验验证了该方法的精度性能，并通过实例验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A leveling measurement method and its application in robotic systems

Leveling error is critical for final alignment accuracy in accurate assembly tasks, which needs to be sensed and further compensated. In this paper, we propose an easy and cost-saving leveling measurement method. The parameter sensitivity is studied, and the leveling compensation approach in robotic systems is stated. We conduct experiments to examine its accuracy performance, and show its effectiveness in a demonstration assembly case.

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2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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