Comprehensive Analysis Of Pose Errors Of Serial Robot

Precision is important index of scaling capability of robot, so it is watched by many scholars in theory and experiment. At present math model of robot is rigid body, apartment of movement deputies is empty. But errors must appear in practice. Abrasion in practice makes clearance in movement deputy. And parts are flexible, they are transformed and librated in inertia force, gravity, outside force and so on. In general, practical model of robot is different from ideal model of robot in the factors.Position error of6DOF robot is calculated by MATLAB in the article. Errors of turning joints and length of poles for position of robot are considered. The method is clear, and many operations of differential coefficient is avoided.Position of robot is affected by vibration of robot, elastic displacement is produced by vibration. As is considered by dynamics equation in material dump condition.6DOF serial robot is constructed by UG, file of parasolid is exported, and then it is imported, is imitated by kinematics. On the one hand serial robot is in rigid condition,as is a ideal condition, end of serial robot can reach appointed position and pose; on the other hand, serial robot is in flexible condition, in many factors such as shoulder, arm, wrist of robot in gravity, pose of serial robot is affected by moment of flexure.Traditional methods of precision research is mostly on single factor (a few factors),but robots are affected by many factors in practice. Deadweight of robot and errors of joint parts is important for precision of robot., So these factors are not neglected.Pose precision of robot is researched on controlling and compensation in the article. In controlling aspect, database of salvation of MATLAB is transferred to control track of robot. In compensation aspect, ADAMS simulation system can operate real-time compensation to robot.