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针对因影响定位误差因素较多而不易对机器人定位误差进行准确标定的问题,首先建立了基于雅克比矩阵的机器人全闭环定位误差数学模型;然后给出了用于分析各因素单点敏感度的机器人单因素微分定位误差及相对单因素微分定位误差公式;接着采用正交实验法设计了能全面反映机器人定位误差分布的姿态样本空间并基于区间概率密度给出了单因素综合微分定位误差及相对单因素综合微分定位误差公式;最后通过仿真分别分析了机器人各因素对其定位误差影响的单点敏感度及多点综合敏感度,为进一步进行机器人定位误差的标定打下了基础.
In order to solve the problem that the positioning errors of robots are difficult to be accurately calibrated due to many factors affecting positioning errors, a mathematical model of robotic closed-loop positioning errors based on Jacobian matrix is established firstly. Then the single-point sensitivity Robot single-factor differential positioning error and relative single-factor differential positioning error formula; then using orthogonal experimental design to fully reflect the robot positioning error distribution of the attitude of the sample space and based on the probability density of the single-factor integrated differential positioning error and relative Finally, a single-point comprehensive differential positioning error formula is given. Finally, the single-point sensitivity and multi-point comprehensive sensitivity of each factor on the positioning error are analyzed respectively by simulation, which lays the foundation for the further calibration of robot positioning error.