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通过6R机器人轨迹偏移分析,对机器人关节间隙进行建模仿真,重现了实际绘制轨迹偏移。确定迹偏移原因,指导机器人结构设计改进,提高机器人精度。
Through 6R robot trajectory deviation analysis, the robot joint gap modeling and simulation to reproduce the actual drawing trajectory offset. Determine the cause of trace migration, guide the robot structure design to improve and improve the robot accuracy.