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引言机器人系统是一个非线性,强耦合的动力学系统。由于机械制造工艺水平和制造成本的限制,实现的机器人的结构参数和运动参数不可避免的存在偏差。在运动过程中,机器人本身的某些误差源(如间隙误差)、当高速运动时在惯性力作用下产生的弹性变形与振动以及外界的干扰(如噪声等)所产生的误差都是不确定和随机的。经运动传递矩阵和误差传递矩阵传递后所得的机器人操作手末端的位姿误差也就随时间的变化而不同。也就是说在运动过程中,操作手末端的误差具有时变性和随机性。同时,各个误差源对机器人的干扰作用是互相关联的,操作手误差表达的是各个误差源的综合作用的结果,加上机器人各个关节本身之间的强耦合性(即在
Introduction The robot system is a nonlinear, strongly coupled dynamic system. Due to the limitations of the manufacturing technology and the manufacturing cost, the structural parameters and the movement parameters of the robot are inevitably biased. During the movement, some error sources (such as clearance error) of the robot itself, the elastic deformation and vibration caused by the inertial force during high-speed movement, and the errors caused by external disturbances (such as noise) are all uncertain And random. The pose error of the end of the robot manipulator which is transferred by the motion transfer matrix and the error transfer matrix also varies with time. In other words, during the movement, the errors at the end of the manipulator are time-varying and random. At the same time, the interfering effects of various error sources on robots are interrelated. The error expressed by operators is the result of the combined effect of all error sources. Coupled with the strong coupling between the joints of robots themselves