论文部分内容阅读
主被动关节臂式测量机器人兼具了柔性测量臂测量灵活和传统机器人可编程的特点。基于Denavit-Hartenberg方法建立了测量机器人的数学模型,根据测量机器人和被测对象自身特点和相互关系对系统中实际存在的各种误差因素进行分析,并引入了轨迹误差传递函数对机器人的轨迹进行了预先补偿,提高了系统的轨迹精度。
Active and passive articulated arm measuring robots combine the flexibility of flexible measuring arms with the programmable features of traditional robots. Based on the Denavit-Hartenberg method, the mathematical model of the measurement robot is established. According to the characteristics and mutual relations between the measurement robot and the measured object, various error factors existing in the system are analyzed. The trajectory error transfer function is introduced to track the robot. Pre-compensation, improve the system’s trajectory accuracy.