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对采摘机械臂的结构误差补偿作了探讨,提出了基于模糊稳健性的误差补偿方法以及关节最小误差补偿量求解算法,并对5自由度采摘机械臂末端位姿误差补偿进行仿真分析,结果表明模糊稳健补偿后末端位置误差明显减小。
The structure error compensation of picking manipulator is discussed. The error compensation method based on fuzzy robustness and the algorithm of calculating the minimum joint error compensation amount are put forward. The pose error compensation of 5 degrees of freedom picking manipulator end is simulated and analyzed. The position error of the end after the fuzzy compensation is obviously reduced.