Error Analysis And Path Programming On SIWR-Ⅱ Type Underwater Manipulator And Its Computer Simulation

With the development of science and technology, the robot technology is developing, and the field of robot application is enlarging, and the request for robot is increasing. Because the error of robot is connected with many factors , it blocks the development of robot. Path programming is one of the hotspots of robot research. Its' significance to robot tempts people to research into it. Therefore, the researchment of error analysis and path programming into robot is important.The article takes SIWR-II type underwater manipulator as an example and works over and analyses its' error analysis and path programming. With the differential method, error that is produced by many factors is combined into macro motion of position and pose of manipulator. Reason and calculate error of the end and joints, then get the relation expression of the error of the end and the error of joints. Through research into space curve, get the equation of space curve, then reason the method of path programming according to the motion space of the manipulator. At last, the conclusion, which is gotten according to error analysis and path programming, is validated by computer simulation.