基于腕力传感器的机器人操作臂末端位置误差补偿  

Location Error Compensation at Endpoint of a Manipulator Based on Robot's Wrist Force Sensor

作　　者：干方建[1] 刘正士[2] 

机构地区：[1]中国科学技术大学经济技术学院 [2]合肥工业大学机械与汽车工程学院

出　　处：《农业机械学报》2001年第6期103-105,113,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：安徽省自然科学基金资助项目 (项目编号 :0 0 0 43310 )

摘　　要：针对机器人操作臂夹持工具与环境作用时基于传感器坐标系内的微分运动分析 ,推导出基于工具坐标系的定位误差及基于基坐标系的定位误差补偿 ,并以 PU MA5A strain sensor today is widely used as a robot's wrist force sensor. The output from a strain sensor is based on the deformation of elastic material of the sensor, and the deformation results in the location errors at endpoint of a manipulator. In this paper, the perturbation related to sensor coordinate resulting in location error of the workpiece was analyzed when the workpiece clamped by a manipulator acts on unknown environment .The location error was investigated and an error compensation method was suggested based on the world coordinate. Finally, a calculation example for the location error of PUMA560 robot and the error compensation based on the world coordinate was given.

关 键 词：机器人 传感器 运动学 误差 腕力传感器 操作臂末端位置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]