压脚压紧力作用下的机器人变形预测和补偿
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郭英杰,顾钒,董辉跃,汪海晋
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Prediction and compensation of robot deformation under pressure force of pressure foot
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Ying-jie GUO,Fan GU,Hui-yue DONG,Hai-jin WANG
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| 表 4 机器人6组位姿下末端滑移变形 |
| Tab.4 Deformation value of slide under six groups of robot poses |
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| 组别 | 位姿 | 实际滑移/mm | 理论滑移/mm | | θ1/（°） | θ2/（°） | θ3/（°） | θ4/（°） | θ5/（°） | θ6/（°） | | 1 | −51.18 | 85.00 | −7.05 | −85.00 | 49.95 | −99.25 | 0.24 | 0.28 | | 2 | −49.36 | 86.27 | −14.49 | −77.03 | 49.40 | −102.94 | 0.20 | 0.24 | | 3 | −47.69 | 86.15 | −21.44 | −67.37 | 50.83 | −101.28 | 0.19 | 0.21 | | 4 | −45.80 | 83.41 | −2.40 | −92.21 | 53.61 | −95.40 | 0.23 | 0.25 | | 5 | −43.80 | 87.20 | −16.84 | −67.88 | 51.61 | −121.12 | 0.20 | 0.22 | | 6 | −42.21 | 94.21 | −9.60 | −85.02 | 42.88 | −99.00 | 0.23 | 0.24 |
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