一种基于电子经纬仪的机械臂运动精度测试新方法研究  

Study on novel kinematic accuracy test method for manipulator based on electronic theodolite

作　　者：孙汉旭[1] 谭月胜[2] 贾庆轩[1] 邵志宇[1] 

机构地区：[1]北京邮电大学自动化学院,北京1008761 [2]北京林业大学工学院,北京100083

出　　处：《仪器仪表学报》2007年第12期2206-2209,共4页Chinese Journal of Scientific Instrument

摘　　要：基于电子经纬仪首次提出了一种全新的机械臂末端执行器位姿精度测试方法。利用该方法对一种6自由度机械臂末端执行器的位姿精度进行了实测,与用激光跟踪仪所测数据进行了对比,两者之间的最大差值小于1mm,结果表明这种方法切实可行。Based on electronic theodolite, a novel method for testing the kinematic accuracy of manipulator is developed for the first time. The method is used to identify the pose accuracy of a 6-DOF manipulator depending upon the electronic theodolite. The result is compared with the result tested by a laser tracking apparatus, and the maximum difference between them is less than 1 mm, which shows that this method is feasible.

关 键 词：电子经纬仪 机械臂 运动精度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]