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提出一种基于误差模型的机器人运动学结构参数和角度参数补偿方法。利用D-H算法建立了机器人运动学方程,推导相对于末端坐标系的机器人运动学误差模型,提出将结构参数映射综合到关节角度参数的运动学参数补偿方法,为了解决补偿过程中各关节角度误差问题,设计了一套基于关节角度校正的机器人运动学参数补偿实验方法,实验结果验证了所提出方法的有效性。
A kinematic structure parameter and angle parameter compensation method based on error model is proposed. The DH kinematics equations are established and the kinematic error model of the robot relative to the end coordinate system is deduced. A kinematic parameter compensation method is proposed, in which the structural parameter mapping is integrated into the joint angle parameters. In order to solve the problem of angle error of the joints in the compensation process, , A set of experiment method of robot kinematics compensation based on joint angle correction was designed. The experimental results verify the effectiveness of the proposed method.