机器人重复定位精度优化综合

本文根据控制系统的设计要求和机器人的工作稳定性要求,提出三种机器人机构精度综合的评价函数:(1)运动精度最低化单目标评价函数,(2)误差波动最小化单目标评价函数,(3)综合考虑运动精度和误差波动的多目标评价函数。并引入了三个衡量优化结果的实用指标。最后,以5R 焊接机器人为例进行优化计算。

Optimal Synthesis of Repeatability Accuracy of Robot Manipulators

In consideration of design of control system and operating quality,three objective functions of accuracy synthesis of robot manipulator are advanced in this paper.1)mono-objective function of minimization of kinematic accuracy, 2)mono-objective function of minimization of error fluctuation,3)multi- objective function of minimization of kinematic accuracy and error fluctuation. Then three criteria are introduced for evaluating the optimum results.The paper fiually verifies the theory by applying the proposed method to the accuracy synthesis of a 5R welding robot.The result shows us that the three objective functions meet the need of accuracy design of robot manipulators,and have good conyergence.