6-UPS并联机器人运动反解误差建模及补偿.pdfVIP

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6-UPS并联机器人运动反解误差建模及补偿

李帅，张学科

（广西科技师范学院职业技术教育学院，广西来宾545004）

摘要：

以6-UPS并联机器人为研究对象，分析了机器人运动误差的主要来源，明确了优化方向。利用矩阵变换法建立起

运动反解误差模型，为误差优化提供理论基础。针对安装所造成的运动误差问题，采用了最小二乘法拟合优化的办法对各

安装点进行误差补偿。最后通过实例验证，此误差补偿方法合理可行。

关键字：

矩阵变换法；运动反解；并联机器人；最小二乘法

中图分类号:TP242.3文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园20）02原园032原园3

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