基于微分法串联机器人的误差敏感度分析  

Error sensitivity analysis of tandem robot based on differential method

作　　者：陈华 刘新宇 赵学峰 CHEN Hua;LIU Xinyu;ZHAO Xuefeng(School of Artificial Intelligence, Ma′anshan University, Ma′anshan, Anhui 243100, China;School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214000, China;Zhongda Electronics (Jiangsu) Co., Ltd., Suzhou, Jiangsu 215000, China)

机构地区：[1]马鞍山学院人工智能学院,安徽马鞍山243100 [2]江南大学机械工程学院,江苏无锡214000 [3]中达电子(江苏)有限公司,江苏苏州215000

出　　处：《江苏大学学报（自然科学版）》2020年第3期353-358,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：安徽省教育厅高校优秀青年人才支持计划项目(gxyq2018155);安徽省教育厅自然科学研究重点项目(KJ2019AA0915)。

摘　　要：为了提高串联机器人的绝对定位精度,提出了一种基于微分法和矩阵法的机器人误差源分析方法.首先分析单个连杆姿态矩阵的微小误差;然后利用积分法分析多个连杆末端的位姿误差,采用微分法和修正Denavit-Hartenberg(MDH)运动学模型,对末端位姿误差的敏感度进一步分析;最后通过Matlab软件分析,分别得出机器人4个关节的扭角和转角对末端位姿影响的曲线图,以及连杆长度和偏移量对末端位姿影响的曲线图,对影响末端位姿的几何参数进行运动学误差分析和规避,即可从源头上解决串联机器人绝对定位精度的问题.To improve the absolute positioning accuracy of tandem robot,a method of analyzing robot error sources was proposed based on differential method and matrix method.The small errors of the single link attitude matrix were analyzed,and the integral method was used to analyze the pose errors of the ends of multiple links.By the differential method and the modified Denavit-Hartenberg(MDH)kinematics model,the sensitivity of the end pose error was also analyzed.The Matlab software was used to obtain the influence curve of the twist and rotation angles of the four joints of robot on the end pose and the influence curve of connecting rod length and offset on the end pose.The results show that the kinematic errors of geometric parameters with great influence on the end pose can be analyzed and avoided by the influence curves,and the problem of absolute accuracy of tandem robot can be solved from the source.

关 键 词：机器人 微分法 矩阵法 误差分析 敏感度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]