摘要
主被动关节臂式测量机器人兼具了柔性测量臂测量灵活和传统机器人可编程的特点。基于Denavit-Hartenberg方法建立了测量机器人的数学模型,根据测量机器人和被测对象自身特点和相互关系对系统中实际存在的各种误差因素进行分析,并引入了轨迹误差传递函数对机器人的轨迹进行了预先补偿,提高了系统的轨迹精度。
Auto - manual driven measuring robot with articulated ann possesses the merits of both flexibility of flexible articu- lated ann and programmability of robot. On the basis of Denavit - Hartenberg arithmetic, the mathematical model of measuring robot is established, all error sources are deeply analyzed according to the traits and correlation between measuring robot and the objects, thus the trajectory error transfer function is brought in to compensate the robot＇ s trajectory control in advance and improve the precision of system.
出处
《机械研究与应用》
2007年第6期25-28,共4页
Mechanical Research & Application
关键词
测量机器人
误差补偿
轨迹误差
measuring robot
error compensation
trajectory error
