通过对装配机械手运动学分析,采用摄动补偿法对装配机械手末端执行器的位姿误差进行补偿,即通过末端执行器的附加运动减少或消除实际运动误差,所提出的误差补偿方法能够有效地提高机械手末端执行器的定位精度,并通过实验证明了该方法的可行性。 Through the kinematics analysis of the assembly manipulator, the position and orientation errors of the assembly robot end effector are compensated by the perturbation compensation method, that is, the additional compensation of the end effector can reduce or eliminate the actual motion error. The proposed error compensation method can effectively Improve the positioning accuracy of the robot end effector, and prove the feasibility of the method through experiments.