工业机器人运动误差的逆建模

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632406

I. Negrean, I. Vușcan, Z. Forgó

{"title":"工业机器人运动误差的逆建模","authors":"I. Negrean, I. Vușcan, Z. Forgó","doi":"10.1109/INES.1997.632406","DOIUrl":null,"url":null,"abstract":"For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse modelling of kinematic errors, as well as an optimising model for the position-orientation and velocity-acceleration accuracy.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Inverse modelling of the kinematical errors of industrial robots\",\"authors\":\"I. Negrean, I. Vușcan, Z. Forgó\",\"doi\":\"10.1109/INES.1997.632406\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse modelling of kinematic errors, as well as an optimising model for the position-orientation and velocity-acceleration accuracy.\",\"PeriodicalId\":161975,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Intelligent Engineering Systems\",\"volume\":\"21 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-09-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Intelligent Engineering Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INES.1997.632406\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INES.1997.632406","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

对于机器人机械结构中各元素的相对定位，采用DH型(Denavit-Hartenberg)参数。它们具有一定的几何误差，影响机器人的运动学和动力学结构。本文给出了DH型几何误差演算的数学模型和典型的运动学误差正逆建模的矩阵方程，以及位置-姿态和速度-加速度精度的优化模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Inverse modelling of the kinematical errors of industrial robots

For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse modelling of kinematic errors, as well as an optimising model for the position-orientation and velocity-acceleration accuracy.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE International Conference on Intelligent Engineering Systems

自引率

0.00%

发文量