【摘要】 在实际的机器人装配和操作过程中,由于各种因素影响,必然会导致末端执行器产生一定的误差。将机器人的误差等效到关节坐标系相对于理想位置的偏移,使用微分变换的方法导出了单个杆件的微分变换矩阵,并且得出了该偏移以及各个关节偏移对于末端执行器位姿的误差影响,并且提供了算例。使用该方法可以将机器人的杆件制造、装配误差,以及加工过程中的受热和受力所产生的变形全部等效到微分变换矩阵中,从而对机器人进行全面的误差分析。更多还原

【Abstract】 It’s robot assembling and operating process,the end operator must deviate with the objective pose and position due to many factors. The errors of robot are equivalent to the offsets of joints’ coordinates. Derived the differential transform matrix of single bar based on differential transform method,get the error influence to the pose of the tip executing apparatus from single joint’s offset and all joints’offsets,give the calculation example. This method includes all the robot error sources,such as the component fabrication error,robot assembling error,and the heat deformation and force deformation in the robot working process. All of them are equivalent to the variables in the differential transform matrix,so the total error analysis to the robot can be done by this way.更多还原