【畢業(yè)論文】六自由度工業(yè)機器人標定畢業(yè)設(shè)計說明書_第1頁
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1、 揚 州 大 學 廣 陵 學 院本科生畢業(yè)設(shè)計畢 業(yè) 設(shè) 計 題 目 工 業(yè) 機 器 人 標 定 學 生 姓 名 專 業(yè) 機 械 設(shè) 計 制 造 及 其 自 動 化班 級 1 指 導(dǎo) 教 師 完 成 日 期 2 0 1 4 年 0 5 月 3 0 日 IIAbstractKinematic calibration

2、 is the key technology to improve the accuracy of robot, is also the important content of robotics, an unprecedented development in robot today have very important theoretical and practical significance. The robot kinema

3、tics calibration modeling based on kinematics, geometric error parameter identification for the purpose, to provide basis for error compensation of robot.The robot manufacturers robot its repetitive positioning precision

4、 is higher, but the absolute positioning accuracy is very low. With the use of robots are more and more widely, improving the robot absolute positioning accuracy has become a key technology problem which. This paper uses

5、 a kinematic calibration method, the application of advanced laser tracking measurement system based on parameter identification method and identification model of accurate parameters of a 6R robot model, improves the ac

6、curacy of the robot absolute positioning.Aiming at the industrial robot calibration, the actual mechanism firstly with the robot, the robot is established by D-H method of pole coordinates, based on the detailed derivati

7、on and solution of robot kinematics and Jacobi matrix, programming and kinematics model using Matlab language, with the attitude data comparison of robot controller, verified the correctness of the established link coord

8、inate system. According to the mechanism of industrial robot, analyzes the impact of absolute location error precision of the robot, the kinematics model, based on differential transform method is derived for the error m

9、odel calibration of robots, and based on the Matlab software system of least square algorithm for robot kinematics error model, through the simulation to solve the error model, validation the feasibility of robot calibra

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