Decoupling and compensation of synthesis errors for machining robot system

doi:10.6041/j.issn.1000-1298.2013.12.054

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	Decoupling and compensation of synthesis errors for machining robot system
	Zhang, Yonggui; Gao, Jin'gang; Liu, Wenzhou; Yuan, Mingjie
刊名	Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery
	2013-12-01
卷号	44 期号:12 页码:326-331
关键词	End effectors Linear transformations Machining Perturbation techniques Compensation modeling Decoupling Differential transformation Dynamic error Machining robot Mathematic model Perturbation method Robot end effector
ISSN号	10001298
DOI	10.6041/j.issn.1000-1298.2013.12.054
英文摘要	The error kinematics mathematic model of 6-DOF robot and 2-DOF positioner was established on the basis of differential transformation matrix. When robot was machining, the dynamic error and the static error were coupling. The relationship between two adjacent rod of the dynamic error and the static error was analyzed on the perturbation method, and then the relationship of dynamic error and the static error between robot end effector and each joint was built. Based on the perturbation method, the synthesis error compensation model was created by decoupling the dynamic error and the static error, and then the effectivity of the compensation model was proved. The compensation value of each robot joint can be obtained from the model.
语种	中文
出版者	Chinese Society of Agricultural Machinery
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/113243]
专题	机电工程学院
作者单位	Key Laboratory of Digital Manufacturing Technology and Application, Ministry of Education, Lanzhou University of Technology, Lanzhou 730050, China
推荐引用方式 GB/T 7714	Zhang, Yonggui,Gao, Jin'gang,Liu, Wenzhou,et al. Decoupling and compensation of synthesis errors for machining robot system[J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):326-331.
APA	Zhang, Yonggui,Gao, Jin'gang,Liu, Wenzhou,&Yuan, Mingjie.(2013).Decoupling and compensation of synthesis errors for machining robot system.Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,44(12),326-331.
MLA	Zhang, Yonggui,et al."Decoupling and compensation of synthesis errors for machining robot system".Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 44.12(2013):326-331.