弧焊机器人直线轨迹精度测试研究  

Research on accuracy test for straight-line of arc welding robot

作　　者：蔡广宇[1] 崔士林[1] 

机构地区：[1]南阳理工学院,河南南阳473006

出　　处：《计算机工程与应用》2010年第1期48-50,共3页Computer Engineering and Applications

基　　金：河南省杰出青年科学基金(No.0612002200);河南省重点科技攻关项目(No.0623021600)

摘　　要：在传统平面最小二乘拟合方法的基础上,提出空间直线拟合的方法。利用该方法对弧焊机器人的直线轨迹进行了拟合,拟合结果显示,机器人实到轨迹与指令轨迹之间存在较大误差,通过分析误差分布情况可以为机器人的位姿误差补偿及精度优化设计提供依据。A method of fitting a space straight line is proposed based on the traditional method of least square.The straight-line of arc welding robot has been fitted by using this method,and the fitting result demonstrates that there are big errors between the real path and the instruction path.The basis is provided to compensate pose error and the precision optimization design through analysing the error s distribution.

关 键 词：机器人直线轨迹 精度 评价 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]