码垛机器人运动定位误差补偿

摘要

针对国产码垛机器人绝对定位精度不高的现状,以现有码垛机器人为研究对象,构建位姿误差模型,分析主要的误差来源.并根据实验实测数据与模型相结合的方法,给出误差补偿算法,实现定位精度的优化设计.%In order to improve the absolute position precision of stacking robot, an error model is built based on current stacking robots. This model is designed to analyze the main sources of error. Furthermore, an error compensation algorithm would be available by using the model with experimental data, which helps to realize the optimization design of positioning accuracy.