工业机器人去冗余测量与考虑不确定度的误差补偿
司泽轩,张军,刘宇庭,吕贺,郭世杰
Industrial robot de-redundant measurement and error compensation considering uncertainty
Zexuan SI,Jun ZHANG,Yuting LIU,He LV,Shijie GUO
表 1
机器人运动学建模使用参数
Tab.1
Robot kinematics modeling parameters
i
ω
i
q
i
1
[0, 0, 1]
[0, 0, 187]
2
[0, 1, 0]
[0, 0, 290]
3
[0, 1, 0]
[0, 0, 560]
4
[1, 0, 0]
[134, 0, 630]
5
[0, 1, 0]
[302, 0, 630]
6
[1, 0, 0]
[374, 0, 630]