挠性机器人动态误差集成激光测量与补偿研究

摘要

提出一种基于3个激光发生器和3个 激光位置 检测器（PSD）的挠性构件动态误差测量方法，该法可以测量除杆长方向外的5个变形分量， 且光路和测量模型简单；建立了PSD上光点位置与构件各误差分量及机器人末端执行器动态 误差之间的关系，并给出其补偿控制方法。%A method for measuring dynamic errors of a flexible link is presented, which is based on three laser-optical generators and three position sensitive detectors (PSD). The method can be used to measure five deflective components except the elongating one of the link. The relationships among the positions of optical points on PSD and deflective components of the link and the dynamic errors of the end-effector of a flexible manipulator are formulated. A control law is given to compensate the dynamic errors of the end-effector.