摘要
机器人系统存在的多种不确定性会导致其运动精度下降,为此开展机器人运动时变不确定性建模与分析,以期提高机器人运动精度。首先基于运动学分析建立了机器人末端执行器参考点位姿误差模型,随后基于机器人位姿误差模型提出了末端执行器位置精度的点(静态)可靠性、时变(区间)可靠性模型以及机器人运动的系统可靠性模型,最后给出了实现上述可靠性模型高效、高精度求解的包络方法,并以斯坦福机器人为实例验证了所提模型和求解方法的有效性。研究表明,所提出的可靠性模型能够有效获得机器人各坐标分量上的时变可靠度以及机器人运动的系统可靠度。研究工作为提高机器人运动精度提供了新方法。
Uncertainty existing in robot manipulators would decrease the kinematic accuracy,so the modeling and analyzing of time-dependent kinematic uncertainty for robot manipulators were carried out in order to improve the kinematic accuracy.Firstly,the error model of position and pose for reference point of end-effector was established based on kinematic analysis.Then,models of point kinematic reliability and time-dependent kinematic reliability for positional accuracy and system reliability model for robot manipulators were proposed based on the error model of position and pose.At last,an envelope method with high efficiency and high precision was utilized to solve the mentioned reliability models above,and effectiveness of the proposed reliability models and solution method were verified by means of Standford robot.The results showed that the reliability model could effectively obtain the time-dependent reliability of each coordinate component and system reliability of the robot manipulators.Thus the research provides a new method for improving kinematic accuracy of robot manipulators.
出处
《工程设计学报》
CSCD
北大核心
2018年第1期50-55,共6页
Chinese Journal of Engineering Design
基金
国家自然科学基金资助项目(51275425)
流体及动力机械教育部重点实验室研究基金(西华大学)(JYBFX-YQ-1)
四川省教育厅项目(15TD0016
12ZZ008)
西华大学研究生创新基金资助项目(ycjj2016031)
关键词
机器人
位置误差
运动精度
运动时变可靠性
robot manipulators
positional error
kinematic accuracy
time-dependent kinematic reliability
