ROBOT’S MOTION ERROR AND ONLINE COMPENSATION BASED ON FORCE SENSOR

摘要

＜正＞Robot’s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot’s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error’s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.