【摘要】 机器人末端的位姿误差往往是多种因素综合作用的结果,各项机械误差和控制误差产生的影响不可能通过控制系统本身加以消除,必须通过软件对其进行补偿.本文就由多种因素引起的机器人综合位姿误差的补偿作了探讨,提出了一种数值逼近方法来求解机器人各关节所需要的误差补偿值.这种方法特别适用于连杆和关节存在柔性的情况.通过对实例进行的仿真计算表明,补偿的效果相当明显.更多还原

【Abstract】 The robot pose error results from many kinds of influencing factors. The influence of mechanical errors and control errors can not be eliminated by control system itself, so it needs to be compensated by control algorithm. The compensation of robot synthetic pose errors resulting from various factors was discussed. A numerical approach was presented to calculate the numerical value for compensating synthetic pose errors of the robots. The approach is especially applicable to the robots, whose links and joints possess flexibility. The numerical example indicates that the approach has a favorable compensation effect.更多还原