摘要
应用D-H算法判断机械手末端定位的精准度。在工业六轴机械手的各关节建立一个坐标系,用D-H算法计算每个关节转动一定度数后末端执行器的位置与姿态。通过实验证明该工业六轴机械手存在较小的位置误差,姿态误差几乎为0,精度较高。
D-H algorithm was applied to judge the accuracy of manipulator＇s end location. A coordinate system was established for each joint of an industrial six-axis manipulator. The position and attitude of the end effector were calculated by D-H algorithm after each joint rotates a certain degree. The experimental results show that the industrial six-axis manipulator has small position error, attitude error is almost zero, and the precision is high.
作者
李嘉琪
陈海彬
钟辉
刘宇
LI Jia-qi;CHEN Hal-bin;ZHONG Hui;LIU Yu(Dongguan University of Technology,Dongguan 523808,China;Huixing Limited Liability Company,Dongguan 523888,China;Institute of High Energy Physics Chinese Academy of Sciences,Dongguan 523000,China)
出处
《机电工程技术》
2018年第9期75-77,99,共4页
Mechanical & Electrical Engineering Technology
