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本文从机器人运动学基本关系出发,首先从单个关节的误差变换关系入手,进而考虑了几个关节的运动学参数偏差与机器人末端位置误差的关系。给出了线性误差模型的推导过程,并分析了产生机器人末端在工作空间的误差原因。从而对在机器人设计和控制中采取补偿措施,为提高精度提供理论依据。
In this paper, starting from the basic relationship of robot kinematics, starting with the error transformation of a single joint, the relationship between the kinematic parameters of several joints and the robot position error is considered. The derivation of the linear error model is given, and the reason of the robot end error in working space is analyzed. Therefore, we take compensation measures in robot design and control and provide a theoretical basis for improving accuracy.