叉车式机器人的转向位姿误差  

Steering Pose Error of the Forklift Robot

作　　者：马斌良[1,2] 黄玉美[1] 朱从民[1] 杨幸芳[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048 [2]独山子石化公司,新疆克拉玛依833600

出　　处：《应用科学学报》2009年第2期210-215,共6页Journal of Applied Sciences

基　　金：国家自然科学基金(No.50075069);陕西省教育厅产业化培育计划基金(No.03JC17)资助项目

摘　　要：执行器的加速度和负载质量会影响叉车式机器人的转向位姿.将执行器加速度和负载质量的变化转化为叉车式机器人作业质心的跃变,通过坐标变换对基于横滑特性的叉车式机器人的转向位姿误差进行建模.基于该误差模型分析了执行器不同加速度和负载质量对叉车式机器人转向位姿的影响.实验结果表明,执行器加速度和负载质量的变化会造成叉车式机器人不同程度的欠转向和过转向.The manipulator＇s acceleration and load quality have influence on steering pose of the forklift robot in its operation. Change of acceleration and load quality of the manipulator is transformed into jump of working centroid of the forklift robot. The steering pose error model of the forklift robot is established based on sideslip motion by the coordinate transformation. The effect of acceleration and load quality of the manipulator on steering pose of the forklift robot is analyzed based on the steering pose error model. Analysis shows that change of acceleration and load quality of the manipulator can result in various degrees of understeer and oversteer of the forklift robot.

关 键 词：叉车式机器人 坐标变换 横滑 转向位姿 误差建模 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]