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精度是衡量并联机器人工作质量优劣最主要的指标之一,常采用运动学推导和全微分的方法进行分析。文中针对公式复杂及全微分省略高次项带来精度下降等问题,用数值方法求解末端实际位姿来计算误差。在理想(不包含误差)的情况下通过逆解计算理论输入等参数;然后加上误差,用逆解求出的参数作为初值进行正解非线性方程组迭代求解,求得末端实际位姿,进而计算误差;最后用算例验证了方法的有效性及可行性。正解非线性方程组迭代求解直接采用高级语言的非线性方程组求解函数,文中采用的初值设置方法总能保证收敛到真实解,编程方便,计算精度高。
Accuracy is one of the most important indicators to measure the quality of parallel robot work, often using kinematic derivation and total differential method for analysis. Aiming at the problems such as complicated formulas and omitting the high-order items caused by full differential, the numerical method is used to solve the actual pose of the terminal to calculate the error. In the case of ideal (without error), the input parameters such as theoretical input are calculated by inverse solution. Then the errors are added and the parameters of the inverse solution are used as initial values to solve the nonlinear equations. And then calculate the error. Finally, an example is used to verify the effectiveness and feasibility of the method. Positive Solutions to Nonlinear Equations Iterative Solutions Directly use high-level language nonlinear equations to solve the function. The initial settings used in this paper can always guarantee the convergence to the true solutions, and are easy to program and have high computational accuracy.