工业机器人误差补偿技术的理论与实验研究.pdfVIP

工业机器人误差补偿技术的理论与实验研究 ,, (南京航空航天大学机电学院, 江苏 南京210016) Research on Theory and Experiment of the Industrial Robot Calibration ZHU Wei, LI Cheng- gang, XU Xing- ming ( College of M echanical and Electrical Engineering,Nanjing U niversity of eronautics and stronautics, Nanjing 210016,China) :针对工业机器人重复精度高定位精度差 : TH16;T P242.2 的特 , 提出一种改进其绝对定位精度的方法根 : 据D- H 坐标系的相关理论, 综合考虑机器人各关 : 1001- 2257(2011)02- 0077- 04 节的误差, 运用五参数法建立机器人的完整几何误 Abstract: new method to improve the abso- 差模型基于误差模型, 提出机器人位姿补偿的多 lute precision of the industrial robot will be intro- 次迭代算法, 实验结果显示工业机器人的绝对定位 duced. The error modeling method is based on the 误差由未补偿的25 mm 变为补偿后的0.3 mm, 从 D- H theory and the error source is considered as 而证明该方法的有效性 five parameters which affects the precision. It ap- :; ;; plies to the situation that the errors are large and coupled. The compensating method is based on the : 2010- 09- 26 error model. result with any precision level could 1 , , ellite[ ] . Proceedings of the IEEE International Con- , ference on Robotics and utomation[C] . 2006.3855- 3860. [3] , , . , [ J] . ,2005,( 1) :55- 59. [4] Hirzinger G, Landzettel K, Reintsema D, Preusche C, 45 mm lbu- Schaffer , Rebele B, Turk M.ROKVISS- Ro- 80,