摘要
众所周知，空间任意两点在不同正交坐标系下的坐标是不同的，但其距离却是相同的．利用这个特点可以构造机器人的距离误差模型￣［６］．研究表明，距离误差模型对于研究机器人的位置精度具有事半功倍的效果．本文论证了一股机器人距离精度与位置精度间的单值对应关系，并给出了机器人距离误差模型在ＰＵＭＡ５６０机器人位置误差补偿中的应用情况．
It is well known that the coordinates of any two spatial points in different orthogonal coordinatesystems are different, but the distance between the two points of them is the same. This feature leads to thedistance error model￣[6].Research work has shown that the distance error model is useful to the study of thepositioning accuracy of robots.This paper gives a demonstration to the single valued relationship between the distance accuracy and thepositioning accuracy of robots. The results of the positioning error compensation on PUMA 560 robot has al-so been shown in the paper.
出处
《机器人》
EI
CSCD
北大核心
1995年第1期1-6,共6页
Robot
关键词
位置精度
机器人
距离误差模型
Distance accuracy,positioning accuracy , robot.
