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本文对机器人手臂的误差和影响误差的因素作了分析,建立起机器人夹持器(手)的运动误差与各种原始误差的函数式,文章着重于推导作为误差传递函数的各种偏导数矩阵,得到了统一的表达式。这种形式特别适合电子计算机计算。文章最后讨论了误差补偿方法和导出了补偿计算的公式。
In this paper, the error of the robot arm and the factors affecting the error are analyzed, and the function formula of the robot’s error (error) and the original error of the gripper is established. The article focuses on the derivation of various partial derivative matrices as error transfer functions , Got a unified expression. This form is particularly suitable for computer calculations. Finally, the article discusses the error compensation method and derives the compensation calculation formula.