串联机器人静态位姿精度分析及评价指标建立

摘要

The precision of the series robot is expressed by the attitude accuracy of the end effector,and its attitude and attitude accuracy mainly comes from the static error of the robot.In this paper,the static error model of the robot is established by matrix method,and the Frobenius norm is used as the attitude accuracy of the evaluation index.%串联机器人的精度是由它末端执行器的位姿精度来表示的,而它的位姿精度主要来源于机器人的静态误差,本文利用矩阵法建立机器人静态误差模型,以Frobenius范数作为位姿精度的评价指标.