Inverse modelling of the dynamic errors of robots

摘要

In the geometrical-kinematic and dynamic modelling, DH-type (Denavit-Hartenberg) or GP-type (generalized) parameters are, currently, used. They express the relative position-orientation between the links of the mechanical structure. In' the dynamic modelling MD-type (mass distribution) parameters are also used. Their actual values are characterized by certain errors which, considerably, affect the kinematic-dynamic behaviour of robot. Beside the matrices of geometrical-kinematic errors, in paper presents both the matrix equations typical of the dynamic errors and an optimising model concerning the dynamic accuracy.