ROBOT'S MOTION ERROR AND ONLINE COMPENSATION BASED ON FORCE SENSOR  

作　　者：GAN Fangjian LIU Zhengshi REN Chuansheng ZHANG Ping 

机构地区：[1]Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China [2]College of Mechanical and Automobile Engineering,Hefei University of Technology, Hefei 23009, China

出　　处：《Chinese Journal of Mechanical Engineering》2007年第4期8-11,共4页中国机械工程学报（英文版）

基　　金：This project is supported by National Hi-tech Research and Development Program of China(863 Program,No.2001AAA423300);Provincial Natural Science Foundation of Anhui,China(No.00043310)

摘　　要：Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.

关 键 词：Multi-axis force sensor ROBOT ERROR COMPENSATION 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]