全回转关节机器人机械手的定位误差分析

Jigien Chen, L. Chao
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引用次数: 103

摘要

先进的工业机器人被命令用数字计算机执行的程序序列来完成不同的任务。这些计算机中的操作软件通过将末端执行器的位置和方向作为关节变量的函数进行计算,从而为用户提供有关末端执行器位置和方向的信息。这些函数通常不够精确,因此计算出的位置和实际位置之间的差异可能很大。对具有旋转关节的机器人造成这些差异的误差源进行了研究。对这些误差的影响进行了参数化,并对测量数据进行了拟合,得到了这些参数的值。结论是,在误差建模中有充分但不详尽的细节,差异可以显着减小,从名义模型的平均误差5.9 mm降至误差补偿后的平均误差0.28 mm。
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Positioning error analysis for robot manipulators with all rotary joints
Advanced industrial robots are commanded to accomplish different tasks with program sequences that are executed in digital computers. The operating software within these computers provides users with information on positions and orientations of the end effectors by computing them as functions of the joint variables. These functions are generally not exact enough such that differences between the computed and the actual positions can be significant. Error sources that contribute to these differences for robots with rotary joints are examined. The effects of these errors are parameterized and measurement data are fitted to obtain the values of these parameters. It is concluded that with sufficient but not exhaustive detail in the error modeling the differences can be reduced significantly from 5.9-mm mean error with nominal model down to 0.28-mm mean error after error compensation.
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