计算机工程与应用 ›› 2010, Vol. 46 ›› Issue (1): 48-50.DOI: 10.3778/j.issn.1002-8331.2010.01.016
• 研发、设计、测试 • 上一篇 下一篇
蔡广宇，崔士林
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CAI Guang-yu，CUI Shi-lin
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摘要： 在传统平面最小二乘拟合方法的基础上，提出空间直线拟合的方法。利用该方法对弧焊机器人的直线轨迹进行了拟合，拟合结果显示，机器人实到轨迹与指令轨迹之间存在较大误差，通过分析误差分布情况可以为机器人的位姿误差补偿及精度优化设计提供依据。
关键词: 机器人直线轨迹, 精度, 评价
Abstract: A method of fitting a space straight line is proposed based on the traditional method of least square.The straight-line of arc welding robot has been fitted by using this method，and the fitting result demonstrates that there are big errors between the real path and the instruction path.The basis is provided to compensate pose error and the precision optimization design through analysing the error’s distribution.
Key words: straight-line of arc welding robot, accuracy, appraisal
中图分类号:
TP24
蔡广宇，崔士林. 弧焊机器人直线轨迹精度测试研究[J]. 计算机工程与应用, 2010, 46(1): 48-50.
CAI Guang-yu，CUI Shi-lin. Research on accuracy test for straight-line of arc welding robot[J]. Computer Engineering and Applications, 2010, 46(1): 48-50.
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http://cea.ceaj.org/CN/Y2010/V46/I1/48
