摘要
机器人末端执行器准确到达预先指定位姿的能力是其重要的技术指标之一,而机器人位姿误差校正补偿技术正是提高机器人位姿精度的有效方法.本文采用机器人位姿误差局部校正方法,建立了机器人工作空间位姿转换矩阵及误差模型.以AdeptOne机器人为对象,利用光电检测手段,自行设计研制了机器人平面位置误差校正软件.所设计的软件经运行安全、可靠、有效,可以为机器人校正分析和离线编程技术提供误差补偿数据库.
The capability of precisely placing the end-effector at the predefined pose is a significant (characteristic) for modern industrial robots. Robot Calibration is an efficient procedure for robot inaccuracy (compensation. )This paper introduces the method of robot local calibration. The transformation matrix and model of inaccuracy compensation in robot workspace are deduced. AdeptOne robot oriented software for inaccuracy compensation is designed and compiled;it is safe, reliable and good during execution. Once (implemented,)the soft ware by the writers can provide data base of position error for robot calibration analysis and off-line (programming.)
出处
《南昌大学学报（工科版）》
CAS
2004年第2期1-5,共5页
Journal of Nanchang University(Engineering & Technology)
基金
国家"863"精密装配机器人资助项目(863-512-12)
关键词
机器人
局部校正方法
任务空间坐标系
位置误差补偿
robot
local calibration method
task space coordinates
position error compensation
