新型可重构混联机器人tricepttv运动学标定方法研究-research on kinematics calibration method of a new reconfigurable hybrid robot tricep ttv.docx
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新型可重构混联机器人tricepttv运动学标定方法研究-research on kinematics calibration method of a new reconfigurable hybrid robot tricep ttv
ABSTRACT叽listhesisdealswiththekinematicanalysis,errormodeling,parameteridentification,sourceerroranalysis,errorcompens创ionandωmputersimulationofanovelreconfigurablehybridrobo俨-Tricept-IV.白lefollowingcreativeworkhasbeenωmpleted.1)TheinverseandforwardpositionanalysisofTricept-IViscarriedoutusingvectorbasedmethodwiththeconsiderationoftheredundanttranslationaldegreeoffreedom.ηleωrrespondingalgorithmisprogrammedusingnumericaliterativemethodandproportionaldistributionprinciple.)ηleorientationerrorvectorofanypassivejoin创inTricept-IVrobotcanbedecomposedtotwoparts-吨。n刷刷耐uc阳ralerrorvectorandvariablemovableerrorvector.Usingtheaboveassumption,thelinearmappingbetweenthevariablemovableerrorvectorsandallof伽constantgeome创calerrorparametershasbeenderivedthroughtheclosed-loopconstraintequations.Applyingthelinearmappingtooneofkinematicchainsoftherobot,thefullgeometricerrormappingmodelofthehybridrobothasbeenobtained.)ηlelasertI沼ckerisemployedtotheerrormeasurementandthecorrespondingparameteridentificationmodelisalsoformulated.Accordingtothesizeof伽esourcee汀ors,由eprocedureoftheparame阳ridentificationandcompensationaredividedintothreesteps阳identifymeasurementcoordinatesystemerrors,thehomepositionerroroftherobotandthegeometricerrorsrespectively.Byanalyzingthereducedrowechelonformofparam创eridentificationmatrix,thesourceerrorsareseparatedωindependent,relevantandzeroones.The抵rategyof仇,theerrorωmpensationiscarriedoutbymodi命ing由esysteminput.)ηlelocationsandnumberofthemeasurementpointsisoptimizedusingthe4conditionnumberoftheidentificationmatrix制theevaluationindexinorderωachieveproperefficiencyandrobustItess.白lefeasibilityandeffectivenessoftheproposedkinematiccalibrationmethodisverifiedbysimulationresults.Keywords:Hybridrobot,Errormodeling,Parameteridentification,Kinematiccalibration,Laser位acker目录第…章绪论…....…...…·川……….......川……..……川……...………..川……..川…..川...………..川…..川…..川.川.………..川…..川…..川...川………..……..……..川………..川…..川…..川………..……..川…..…....川………..……..…....川………..……..川...…..川..1.1课题研究背景和意义.................川.
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