一种串联机器人的随机误差分析方法

利用旋量理论,通过定义关节处的误差运动旋量,建立了包含结构参数误差的串联机器人误差模型. 在此基础上,提出了一种将Monte Carlo方法与串联机器人误差模型相结合的随机误差分析方法,用于揭示机器人末端位姿误差的概率特性. 并以直角坐标装配机器人为例,在Matlab软件环境中进行了仿真,得到了机器人末端随机位置误差在工作空间内的分布规律. 仿真结果表明,该方法正确、有效,仿真得到的随机误差特性对标定精度的提高以及最优工作空间的选择具有重要意义. 

A Random Error Analysis Method for Serial Robot

In order to analyze the errors of structure parameters for serial robot, an error analysis model was established by defining error twists on each joint based on screw theory. Then, a serial robot's random error analyzing method combined Monte Carlo method and screw theory was further presented which could be used in analyzing error probabilistic characteristics of the end effector of robot. Using Cartesian assembly robot as an example,the simulation experiment was finished in the platform of Matlab software, and the random error distribution of the end effector of Cartesian assembly robot in its workspace was drawn. The results show that the presented modeling method is intuitive and correct, and the resulting error probabilistic characteristics are a great help for improving the calibration precision and selecting the optimal working space.