| 工业机器人运动误差的概率分析 |
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| 引用本文： | 马培荪,张新辉.工业机器人运动误差的概率分析[J].上海交通大学学报,1993,27(1):57-63. |
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| 作者姓名： | 马培荪 张新辉 |
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| 作者单位： | 上海交通大学机械工程系，美国俄克拉何马大学 博士生 |
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| 摘 要： | 本文提出了一种研究工业机器人运动误差的概率分析方法。解决了机器人末端三维误差球半径(而不是误差分量)的统计数字特征的计算问题,并给出了在关节坐标空间的误差分析曲面图.此曲面图既可避开运动学求道的麻烦,又能直观、定量地反映机器人在其工作空间内运动误差的变化规律.
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| 关 键 词： | 工业机器人 运动精度 概率分析 |
Probabiliy Analysis of Kinematic Errors for Industrial Robots |
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| Ma Peisun,Zhang Xinghui.Probabiliy Analysis of Kinematic Errors for Industrial Robots[J].Journal of Shanghai Jiaotong University,1993,27(1):57-63. |
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| Authors: | Ma Peisun Zhang Xinghui |
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| Institution: | Ma Peisun;Zhang Xinghui |
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| Abstract: | An approach of probability analysis for researching kinematic errors of industrial robots has been presented in the paper. It has solved the problem of calculating the statistical characteristics of the radius of the 3D error sphere at the end-effectors of the robot and gives the distribution curved surfaces of the error within the space of the joint coordinate. The obtained curved surfaces not only save the trouble of kinematic inversion but also reflect the variation of kin- ematic errors within the workspace of the robot. |
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| Keywords: | industrial robot kinematic accuracy probability analysis |
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