现代制造工程Issue(7)：31-36,6.DOI:10.16731/j.cnki.1671-3133.2017.07.007
基于可测距平面的机器人误差检测方法
Robotic error measuring method based on the plane with distance measure function
摘要
Abstract
To improve robot positioning accuracy affected by robotic error,a robotic error measuring method based on a plane with distance measure function is proposed.Robot kinematics model existing error was expressed by Modified Denavit-Hartenberg(MDH) model.Combined with the distance error model,the distance error on the plane minimal constraint model equations was derived and nonlinear least squares method was used for solving equations.The specific implementation steps of error measuring method were summarized and identification error was determined by simulation.Resistive touch screen used as a measurement tool,the method was applied to the KR5arc robot.The experiments results show that the error decreases after compensation.The method is effective and applicable to most industrial robot error measuring.关键词
工业机器人/误差检测/距离误差/电阻式触摸屏Key words
industrial robots/error measurement/distance error/resistive touch screen分类
信息技术与安全科学引用本文复制引用
严宏志,江晓磊,韩奉林,张顺..基于可测距平面的机器人误差检测方法[J].现代制造工程,2017,(7):31-36,6.基金项目
国家自然科学基金青年基金项目(51405518) （51405518）
湖南省科技计划重点项目(2015JC3007) （2015JC3007）
