计算机与数字工程2018，Vol.46Issue(4)：633-638,6.DOI:10.3969/j.issn.1672-9722.2018.04.001
机器人柔性关节建模及零位标定研究
Research on Robot Flexible Joint Modeling and Zero Calibration
摘要
Abstract
The existing robots calibration technique has a certain maturity,but there is still no complete calibration model in treatment of flexible joint problems,this ultimately affects the zero calibration result.Therefore,this paper focuses on the research of robot flexible joint and analysis of deformation of flexible joint,establishes the corresponding error model,improves the original zero calibration model,tests the original model and the improved model,and analyzes the calibration results.The simulation results show that,under the influence of comprehensive error including joint flexibility error,the calibration error model based on flexible joint model has better calibration results.Based on the experimental platform of industrial robot IRB120,the corresponding verifica-tion is carried out.关键词
柔性关节/误差模型/模型完整性/零位标定/精度Key words
flexible joint/error model/model integrity/zero calibration/accuracy分类
信息技术与安全科学引用本文复制引用
梅浩,刘永..机器人柔性关节建模及零位标定研究[J].计算机与数字工程,2018,46(4):633-638,6.基金项目
国家自然科学基金项目(编号:61175082) （编号:61175082）
江苏高校"青蓝工程"项目资助. （）
