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�������պ����ѧѧ�� 2009, Vol. 35 Issue (2) :241-245    DOI:
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��ϣ��, ������, �� ��*
�������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100191
Pose error analysis of robot in three dimension
Ding Xilun, Zhou Lelai, Zhou Jun*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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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.
Keywords�� robot   error analysis   kinematic analysis   5 parameters model     
Received 2008-07-20;
About author: ����863�ƻ�������Ŀ(2002AA742044);�����пƼ����Ǽƻ�������Ŀ(H020821450120) ������Ŀ : ��ϣ��(1967-),��,ɽ���ൺ��,����,xlding@buaa.edu.cn.
��ϣ��, ������, �� ��.�����˵Ŀռ�λ������������[J]  �������պ����ѧѧ��, 2009,V35(2): 241-245
Ding Xilun, Zhou Lelai, Zhou Jun.Pose error analysis of robot in three dimension[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(2): 241-245
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