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 7 考虑与不考虑不确定度补偿的机械臂轨迹误差及效率对比

Tab.7 Comparison of trajectory error and efficiency of manipulator considering and not considering uncertainty compensation

轨迹 序号 不考虑不确定度补偿 虑及不确定度补偿 ${{e}}_{\rm{p}} $/μm ${{e}}_{\rm{j}} $/μm ${{e}}_{\rm{p}} $/μm ${{e}}_{\rm{j}} $/μm 轨迹1 补偿前 99.431 104.559 99.431 104.559 补偿后 44.217 54.909 41.328 50.623 $\varphi $/% 55.55 47.48 58.69 51.58 轨迹2 补偿前 104.869 109.832 104.869 109.832 补偿后 56.876 61.313 54.261 60.445 $\varphi $/% 45.77 44.18 48.26 44.97 轨迹3 补偿前 179.795 184.411 179.795 184.411 补偿后 93.141 102.967 83.685 91.950 $\varphi $/% 48.19 45.29 53.45 50.14