北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (2): 241-245.

• 论文 • 上一篇    下一篇

机器人的空间位姿误差分析方法

丁希仑, 周乐来, 周 军   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2008-07-20 出版日期:2009-02-28 发布日期:2010-09-16
  • 作者简介:国家863计划资助项目(2002AA742044);北京市科技新星计划资助项目(H020821450120) 基金项目 : 丁希仑(1967-),男,山东青岛人,教授,xlding@buaa.edu.cn.

Pose error analysis of robot in three dimension

Ding Xilun, Zhou Lelai, Zhou Jun   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-07-20 Online:2009-02-28 Published:2010-09-16

摘要: 采用了五参数模型作为机器人的运动学模型,根据相邻构件间的误差传递关系,应用位姿建模矩阵法建立了机器人的位姿误差模型,并编制了基于C++的位姿误差分析软件.利用所编制的误差分析软件,针对一6-DOF空间摄像机器人具体实例,计算分析了参数变化对机器人的末端位姿误差的影响规律,并绘制了该机器人的等误差曲线图.通过所建立的五参数误差模型和分析软件,可以直观地了解机器人机构的误差分布情况,便于合理地使用机器人或进行机器人机构误差的校正.研究结果为机器人的误差补偿提供了依据.

Abstract: In terms of 5 parameters model as the kinematics model of robots, according to the transferring relationship of errors between the adjacent linkages, with the position and orientation modeling matrix method, the position and orientation error model of robot in three dimension was built, and the position and orientation error analysis program (software) based on C++ was developed. Upon a 6-DOF (degree of freedom) space photographic robot, the influence rule of the end-effector error of the robot caused by the parameter changes was simulated using this error analysis program, and an equivalence error curve picture of the robot was generated and discussed. Through the 5 parameters error model and the analysis software, the error distribution of the robot- s structure is obvious, convenient for the rational usage of robots or emendation for robots- structural errors. The research result provides a basic reference for the error compensation of robots.

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