机械科学与技术2017，Vol.36Issue(3)：378-385,8.DOI:10.13433/j.cnki.1003-8728.2017.0309
工业机器人位姿误差空间IDSW插值补偿方法研究
Space IDSW Interpolation Compensation Method of Position and Orientation Error of Industrial Robot
摘要
Abstract
The industrial robot error models and the existing methods of position and orientation compensation are investigated.The compensation method based on spatial interpolation is studied,and it is found that the high correlation between the robot end pose error and the robot end position is a necessary factor for this method.The geometric error model derived by differential method is obtained,and the high linear dependency between the pose error of two points and the correspondent distance is achieved when the orientation of robot is fixed;Finally,a position and orientation compensation method is proposed based on uniform grid and algorithm of space IDSW (Inverse distance squared weighting) interpolation,and comparative experiments are design and tested to verify the effectiveness of the proposed method.关键词
误差模型/位姿补偿/线性关系/均匀数据场/反距离平方加权Key words
models/position and orientation compensation/linear dependency/uniform grid/inverse distance squared weighting/experiments/computer simulation分类
信息技术与安全科学引用本文复制引用
陈宵燕,张秋菊,孙沂琳,陈海卫..工业机器人位姿误差空间IDSW插值补偿方法研究[J].机械科学与技术,2017,36(3):378-385,8.基金项目
国家自然科学基金项目(51575236)资助 （51575236）
