【摘要】 本文就机器人机构关节间隙对手部位姿误差的影响进行了研究,推出了由间隙引起的关节坐标参数的变化,由此进一步推出手部的位姿变化更多还原

【Abstract】 In this paper the inpluence of clearance in joints on the accuracyof robot is analyzed.The relations between the errors of the four parametersof Denavit-Hartenberg coordinate and the clearance in a joint are desribed,and a series of general formulas are given.Based on these general formulasthe error at the end effector of the robot is obtained.更多还原