%0 Journal Article
%T 工业机器人位姿误差空间IDSW插值补偿方法研究<br>Space IDSW Interpolation Compensation Method of Position and Orientation Error of Industrial Robot
%A 陈宵燕
%A 张秋菊
%A 孙沂琳
%A 陈海卫
%J 机械科学与技术
%D 2017
%X 探讨了工业机器人误差模型及位姿误差补偿的现有方法；对基于空间插值的补偿方法进行研究，提出机器人位置和机器人位姿误差两者之间的高度相关性是插值补偿法有效的先决条件；对利用微分法建立的机器人位姿误差模型进行研究，得到在机器人末端姿态不变时任意两点的位置误差的差值和姿态误差的差值分别与该两点位置差值呈高度线性关系；提出一种基于均匀数据场的空间IDSW（反距离平方加权）插值算法的机器人位姿误差补偿方法，并设计对比实验，仿真验证了本文所提出方法的有效性。<br>The industrial robot error models and the existing methods of position and orientation compensation are investigated. The compensation method based on spatial interpolation is studied, and it is found that the high correlation between the robot end pose error and the robot end position is a necessary factor for this method. The geometric error model derived by differential method is obtained, and the high linear dependency between the pose error of two points and the correspondent distance is achieved when the orientation of robot is fixed; Finally, a position and orientation compensation method is proposed based on uniform grid and algorithm of space IDSW (Inverse distance squared weighting) interpolation, and comparative experiments are design and tested to verify the effectiveness of the proposed method
%K 误差模型
%K 位姿补偿
%K 线性关系
%K 均匀数据场
%K 反距离平方加权&lt
%K br&gt
%K models
%K position and orientation compensation
%K linear dependency
%K uniform grid
%K inverse distance squared weighting
%K experiments
%K computer simulation
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6653.shtml