七自由度机器人误差建模及标定试验研究∗

摘要

The theory of kinematics model of FA1400 robot with seven degrees of freedom is derived by FA1400 robot kinematics and error.The control system based on PMAC is designed.Based on laser tracker,the FA1400 robot error cali-bration experiment is conducted.The experiment results validate the correctness of error modeling and obtain the positioning accuracy of the robot.The design of seven degrees of freedom robot control system can lay the foundation for further study of the redundant degree of freedom industrial robot.%通过 FA1400机器人的运动学以及误差学理论，推导了 FA1400七自由度机器人的运动学模型，设计了基于 PMAC 的控制系统，利用激光跟踪仪对 FA1400机器人进行了误差标定试验，试验验证了误差建模的正确性，并得出了该机器人的定位精度。设计实现的七自由度机器人控制系统为进一步研究冗余自由度工业机器人奠定了基础。