基于相对精度指标的机器人运动学校准

毛晨涛,陈章位,张翔,祖洪飞

Kinematic calibration for robots based on relative accuracy

Chen-tao MAO,Zhang-wei CHEN,Xiang ZHANG,Hong-fei ZU

表 1 不同位型数对应虚拟机械系统自由度分析

Tab.1 DOF analysis of virtual mechanical system corresponding to different numbers of configurations

位型数 n g M 位型数 n g M 2 5 6 6 4 7 12 0 3 6 9 3 k 3+k 3k 12−3k