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1、大臂展空間機(jī)械臂運(yùn)動(dòng)學(xué)參數(shù)精確標(biāo)定
周偉剛;魏博;李輝;蔣志宏;黃強(qiáng);唐自新;張曉東;劉雜
【期刊名稱】《載人航天》
【年(卷)，期】2016(022)004
【摘要】The geometric parameters of the arm and the flexibility will lead to a large error in the space manipulator. However, high positioning accuracy at the end of the robot arm is required in some space operations? In
2、 order to obtain the accuracy of the kinematic parameters a linear calibra-tion method for the robot kinematic parameters was presented in this paper. Taking a 7 degree of freedom space manipulator as the research object, a kinematic model of the robot was established by using the D-H modeling metho
3、d, and the kinematic error model was also established. The simulation experiments show that the calibration method has high accuracy, and the method is simple and easy to be applied in practice.%大臂展空間機(jī)械臂 z 由于臂桿 的幾何參數(shù)誤差及柔性等因素將會(huì)導(dǎo)致其末端定位產(chǎn)生很大誤差,然而在某些 空間作業(yè)時(shí)對(duì)機(jī)械臂末端定位精度要求較高，為了獲得其準(zhǔn)確的運(yùn)動(dòng)學(xué)參數(shù)， 提出了一種線性標(biāo)定機(jī)器人運(yùn)動(dòng)學(xué)參數(shù)的簡(jiǎn)便方法。以一個(gè)7自由度空間機(jī)械 臂為研究對(duì)象，采用D-H建模方法建立了機(jī)器人運(yùn)動(dòng)學(xué)模型，基于該模型建立 了機(jī)器人運(yùn)動(dòng)學(xué)誤差模型，最后通過(guò)計(jì)算機(jī)器人末端的位姿誤差，標(biāo)定了該機(jī) 器人的運(yùn)動(dòng)學(xué)參數(shù)。仿真實(shí)驗(yàn)表明該標(biāo)定方法有較高的精度,并且該方法操作 簡(jiǎn)單、便于實(shí)際應(yīng)用。
大臂展空間機(jī)械臂運(yùn)動(dòng)學(xué)參數(shù)精確標(biāo)定
