摘要
提出了一种基于位置敏感探测器(PSD)、用于挠性机器人动态误差测量的新型集成装置,分析和导出了其测量原理和线性化模型。利用该装置可研究多杆机器人的高精度测量及其反馈控制,推导出了基于该装置的机器人三维挠性动态误差模型,由此得到用于平面机器人简化的线性化实时控制模型。
In this paper, a dynamic error measuring system, which is a newly integrated setup based on PSD is analyzed and built. Its measuring principle and linear model are deduced. It can be used to measure and control spatial error for one or many beam robot. Corresponding dynamic error model is analyzed and deduced, then the reduced and linear model used for plane robot is obtained.
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
2000年第6期617-620,共4页
Journal of University of Electronic Science and Technology of China
基金
电子部预研基金资助项目
关键词
PSD集成装置
测量
动态误差模型
线性化
position sensitive detector
integrated setup
measure
dynamic error model
linearization
