基于运动学分析的工业机器人轨迹精度测量的研究  

STUDY OF MEASUREMENT OF TRAJECTORY PRECISION FOR INDUSTRIAL ROBOT BASED ON KINEMATICS ANALYSIS

作　　者：韩翔宇[1] 都东[1] 陈强[1] 王刚[1] 何云峰[1] 岁波[1] 

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《机器人》2002年第1期1-5,共5页Robot

基　　金：国家"863"计划项目(项目编号863-512-9913-02)

摘　　要：机器人关节伺眼系统的动态误差，是影响其末端执行器运动轨迹精度的一个重要因素．本文以六轴关节型激光加工工业机器人为研究对象，采用Ｄ－Ｈ方法建立起机器人连杆坐标系，在运动学分析的基础上，运用齐次坐标变换矩阵微分法，建立机器人各关节转角的偏差值与末端运动轨迹精度之间的模型，并在此基础上，利用机器人与外部的串口通讯，对在关节伺服系统影响下，沿各种空间位置运动时，机器人末端运动的轨迹精度进行了实际测量．The dynamic error of servo system is an important effect on trajectory precision of robot end-effector. In this paper. Using D-H notation, the coordinate frame of adjacent links has been set up. On the basis of the kinematics analysis, the model has been derived, which describes the relationship between derivation of angle of robot axes and trajectory precision of robot end-effector, by differentiating the homogeneous transformations. In working space of robot, many typical trajectories have been chosen. During robot motion along these typical trajectories, through series communication of robot, the encoder pulse of robot axes has been acquired. Using the model, the quantitative evaluation for trajectory precision of robot has been provided after the data processing

关 键 词：工业机器人 轨迹精度 运动学分析 测量 关节伺服系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]