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通过对自主研发的工业机器人进行运动学分析,提出一种基于空间几何的机器人运动学参数测量方法,运用VB.net语言实现了针对性的机器人运动学参数测量软件,能够简便并精确获取机器人的结构参数。区别于以往复杂的机器人运动学参数模型测量方式,提出针对性的参数测量方法,便于实时获取机器人实际所需的运动学参数,且通过测量实例得到了验证。实验表明,设计的软件所获取的机器人结构参数,通过反馈补偿,机器人的定位误差明显降低,且该软件易于理解,便于实际应用。
Based on the kinematics analysis of self-developed industrial robots, this paper proposes a method for measuring kinematic parameters of robots based on spatial geometry. The software for measuring kinematic parameters of robots is implemented by using VB.net language, which can easily and accurately acquire the robot’s kinematic parameters Structural parameters. Differing from the previous complex robot kinematics parameter model measurement methods, a specific parameter measurement method is proposed to facilitate real-time acquisition of the kinematic parameters required by the robot, and verified by measurement examples. Experiments show that the design parameters of the robots obtained by software design, through the feedback compensation, the robot positioning error is significantly reduced, and the software is easy to understand, easy to practical application.