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- Title
运动学误差模型变体下的机械臂标定精度研究.
- Authors
蒋周翔; 苏瑞; 秦鹏举; 蒙月晨; 龙忠杰; 宋宝; 唐小琦
- Abstract
In order to improve the kinematics calibration accuracy of robot arm,the effects of different D-H kinematics error models on identification accuracy of kinematic errors were studied for a theoretical basis of accurate modeling. The performance and linearization error of variants of SD-H and MD-H kinematic error models were compared. And their comprehensive effect on the kinematic calibration accuracy was analyzed. The results show that the x-z-y Euler transform breaks the minimality of the MD-H model and is not recommended; the performances of other full-rank MD-H model is superior to SD-H model,and the linearization error of MD-H modeling is the same with that of SD-H; with the effect of model performance and linearization error,the calibration accuracy (from 0. 1% to 39. 3%) using SD-H model under strong noise is better than that using MD-H model (from 0. 1% to 71. 2%); a significant difference between the identification accuracy of angular and positional errors is also observed. The results provide a theoretical basis for the calibration modeling methods and selection of identification methods of different types of kinematic errors.
- Publication
Machine Tool & Hydraulics, 2024, Vol 52, Issue 5, p37
- ISSN
1001-3881
- Publication type
Article
- DOI
10.3969/j.issn.1001-3881.2024.05.006