摘要
由于加工装配的累积误差,驱动控制,机械臂的柔性变形以及实际工作环境中振动等因素的干扰,导致无法准确获取机械臂的运动学模型和动力学模型,导致机械臂实际的运动性能与期望的高精度运动性能相比出现较大的差距。针对上述问题,文中通过研究串联机械臂轨迹优化算法,设计了一套简单且实时性的机械臂控制变量补偿系统,以减少甚至消除机械臂的运动学误差。这一技术的实现,将对提高装备制造业中机械臂运动精度关键技术的发展起到推动作用。
The accumulated error of processing and assembling,driver control,the flexible deformation of manipulator,and vibration interference and other factors in the work environment make it difficult to obtain accurate manipulator kinematics model and dynamic models,causing a large gap between the manipulator＇s actual performance and expectations. This paper studies s serial manipulator path optimization algorithm and designs a simple manipulator control variables and real-time compensation technology to reduce（ or even eliminate） the serial manipulator kinematic errors. It improves the accuracy of equipment manufacturing arm movement to contribute to the development of key technologies.
出处
《电子科技》
2016年第3期71-74,共4页
Electronic Science and Technology
关键词
串联机械臂
轨迹优化
运动学标定
变量补偿算法
serial manipulator
trajectory optimization
kinematic calibration
variable compensation algorithm
