| 机器人机构关节间隙对手部位姿误差的影响 |
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| 引用本文： | 黄宇中,刘文焕.机器人机构关节间隙对手部位姿误差的影响[J].上海交通大学学报,1990,24(1):48-56. |
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| 作者姓名： | 黄宇中 刘文焕 |
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| 作者单位： | 上海交通大学机械工程系，上海交通大学机械工程系，上海交通大学机械工程系 上海冶金专科学校 |
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| 摘 要： | 本文就机器人机构关节间隙对手部位姿误差的影响进行了研究,推出了由间隙引起的关节坐标参数的变化,由此进一步推出手部的位姿变化
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| 关 键 词： | 机器人 关节 间隙 误差 |
The Affection of Clearance in Joints to the Error at End Effector of Robot |
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| Huang Yuzhong Liu Wenying Xie Li.The Affection of Clearance in Joints to the Error at End Effector of Robot[J].Journal of Shanghai Jiaotong University,1990,24(1):48-56. |
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| Authors: | Huang Yuzhong Liu Wenying Xie Li |
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| Institution: | Huang Yuzhong Liu Wenying Xie Li |
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| Abstract: | In this paper the inpluence of clearance in joints on the accuracyof robot is analyzed.The relations between the errors of the four parametersof Denavit-Hartenberg coordinate and the clearance in a joint are desribed,and a series of general formulas are given.Based on these general formulasthe error at the end effector of the robot is obtained. |
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| Keywords: | robot joint claearance error |
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