压脚压紧力作用下的机器人变形预测和补偿
郭英杰,顾钒,董辉跃,汪海晋
Prediction and compensation of robot deformation under pressure force of pressure foot
Ying-jie GUO,Fan GU,Hui-yue DONG,Hai-jin WANG
表 5
补偿后的机器人位置误差
Tab.5
Robot position errors after compensation
组别
(
x
0
,
y
0
,
z
0
)/mm
(
x
1
,
y
1
,
z
1
)/mm
[(
x
1
−
x
0
)
2
+(
y
1
−
y
0
)
2
]
1/2
/mm
1
(1294.89,−1256.59,2052.25)
(1294.92,−1256.54,2052.25)
0.06
2
(1293.29,−1177.33,1957.45)
(1293.30,−1177.31,1957.45)
0.02
3
(1293.18,−1112.40,1854.43)
(1293.13,−1112.39,1854.43)
0.05
4
(1437.22,−1143.03,2086.54)
(1437.18,−1143.04,2086.54)
0.04
5
(1380.01,−1026.21,1972.66)
(1379.98,−1026.25,1972.67)
0.05
6
(1342.29,−952.12,2187.55)
(1342.22,−952.09,2187.55)
0.08