摘要
本文在综合考虑关节间隙及伺服定位误差对机器人手端位姿误差影响的前提下,推导了误差模型。并在此基础上,进行了重复定位精度的优化综合。进行优化时,分别考虑了三种情况:1)以关节间隙量及伺服定位偏差值最大作为单目标函数;2)以手端典型轨迹误差波动最小作为单目标函数;3)综合以上两种情况作为多目标函数。文中对以上三种情况进行了分析,最后针对“重庆一号”机器人进行了数值计算。
In this paper,the error model is got while the influence of the joint interval and the servo systems positioning error of robot is considered. The optimum distribution of repeatable accuracy is presented under each of the three situations, They are:the single objective fun- ction of the maximum of the joint interval value and the servo system's error(Ⅰ), the single objective function of the minimum of the error wave of the robot arm's typical trajectory(Ⅱ) and the multiobjective function under the consideration of both (Ⅰ) and (Ⅱ) as (Ⅲ). At last,the numerical calculation is presented in connection with Chongqing-I' painting robot.
