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机器人连杆的加工误差、温度变化以及机械传动误差等诸多因素会导致机器人抓手的位置和姿态产生误差。本文以机器人运动学及误差理论为基础 ,推导出了在各种位姿描述情况下机器人位置和姿态误差的计算公式。该方法可以作为对各种工业机器人的位姿精度进行分析的基础
Robot connecting rod machining error, temperature changes and mechanical transmission error and many other factors will lead to the robot grip position and attitude error. Based on the theory of robot kinematics and error, this paper deduces the formula of robot position and attitude errors under various pose descriptions. This method can be used as a basis for analyzing pose accuracy of various industrial robots