北京航空航天大学学报 ›› 2013, Vol. 39 ›› Issue (3): 406-410.

• 论文 • 上一篇    下一篇

机器人全闭环定位误差因素敏感度分析

齐立哲1, 陈磊2, 王伟1, 余蕾斌2   

  1. 1. 北京航空航天大学 机器人研究所, 北京 100191;
    2. 上海飞机制造有限公司, 上海 200436
  • 收稿日期:2012-03-13 出版日期:2013-03-31 发布日期:2013-04-03
  • 作者简介:齐立哲(1981-),男,河北保定人,博士生,lizhe-qi@sohu.com.
  • 基金资助:

    "十二五"国家科技支撑课题资助项目(2011BAF04B01);国家商用飞机制造工程技术研究中心创新基金资助项目

Sensitivity analysis of the factors affecting robot closed-chain positioning error

Qi Lizhe1, Chen Lei2, Wang Wei1, Yu Leibin2   

  1. 1. Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Shanghai Aircraft Manufacturing Co., Ltd, Shanghai 200436, China
  • Received:2012-03-13 Online:2013-03-31 Published:2013-04-03

摘要: 针对因影响定位误差因素较多而不易对机器人定位误差进行准确标定的问题,首先建立了基于雅克比矩阵的机器人全闭环定位误差数学模型;然后给出了用于分析各因素单点敏感度的机器人单因素微分定位误差及相对单因素微分定位误差公式;接着采用正交实验法设计了能全面反映机器人定位误差分布的姿态样本空间并基于区间概率密度给出了单因素综合微分定位误差及相对单因素综合微分定位误差公式;最后通过仿真分别分析了机器人各因素对其定位误差影响的单点敏感度及多点综合敏感度,为进一步进行机器人定位误差的标定打下了基础.

Abstract: Aiming at the problem that is difficult to calibrate the robot positioning error accurately as many affecting factors, the closed-chain mathematical model for robot's positioning error was established based on Jacobian matrix firstly. Secondly, the formulas of single factor differential positioning error (SFDPE) and relative single factor differential positioning error (RSFDPE) were given to analyze the single point sensitivity (SPS) of each factor. Next, the sampling space of robot was designed by the orthogonal experiment design method which can fully reflect the robot position error distribution and then the formulas of the single factor comprehensive differential positioning error (SFCDPE) and relative single factor comprehensive differential positioning error (RSFCDPE) was depicted based on the interval probability density. Finally these factors' single point sensitivity and more points comprehensive sensitivity (MPCS) were simulated. This is a foundation work for robot positioning error calibration further.

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