摘要
对3-PRR并联机器人进行了空间数学建模,利用空间位置算法对3-PRR并联机器人进行了空间位置的逆向求解,提出了一种利用空间位置判断求解函数取舍的方法,分析了3-PRR并联机器人的主要误差源,并进行了误差分析和计算,提出的误差补偿方法,通过实验验证了补偿方法的有效性。
Based on the establishment of 3-PRR parallel robot spatial mathematical model, the algorithm of space position is used to inversely calculate the space position of 3-PRR parallel robot and a method choosing the solutions of functional equation is proposed in this paper. Meanwhile, this paper proposed a compensation method based on the analysis of the major error source of 3-PR-R parallel robot as well as the error analysis and calculation. And its effectiveness is verified by experiment.
出处
《激光杂志》
北大核心
2017年第12期92-95,共4页
Laser Journal
关键词
并联机器人
数学模型
误差
补偿
parallel robot, mathematical model, error, compensation
