| 基于腕力传感器的机器人操作臂末端位置误差补偿 |
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| 引用本文： | 干方建,刘正士. 基于腕力传感器的机器人操作臂末端位置误差补偿[J]. 农业机械学报, 2001, 32(6): 103-105 |
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| 作者姓名： | 干方建 刘正士 |
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| 作者单位： | 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, |
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| 基金项目： | 安徽省自然科学基金资助项目 (项目编号 :0 0 0 43310 ) |
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| 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 MA5 60型机器人为例计算了定位误差及其误差补偿
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| 关 键 词： | 机器人 传感器 运动学 误差 |
| 修稿时间： | 2001-01-12 |
Location Error Compensation at Endpoint of a Manipulator Based on Robot''''s Wrist Force Sensor |
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| Gan Fangjian. Location Error Compensation at Endpoint of a Manipulator Based on Robot''''s Wrist Force Sensor[J]. Transactions of the Chinese Society for Agricultural Machinery, 2001, 32(6): 103-105 |
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| Authors: | Gan Fangjian |
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| Affiliation: | Gan Fangjian(University of Science and Technology of China) Liu Zhengshi(Hefei University of Technology) |
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| Abstract: | A 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. |
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| Keywords: | Manipulator Sensor Kinematics Error |
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