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本文按求偏导原理,简化了机器人机构位姿误差计算公式的推导,得出的公式形式简洁,几何意义明确,文章后部还对机器人的位姿误差进行了统计分析。
According to the principle of partial derivative, this paper simplifies the derivation of the formula for calculating the pose error of robot mechanism. The formulas are concise and the geometric meaning is clear. The pose error of the robot is also analyzed at the back of the article.