摘要
基于电子经纬仪首次提出了一种全新的机械臂末端执行器位姿精度测试方法。利用该方法对一种6自由度机械臂末端执行器的位姿精度进行了实测,与用激光跟踪仪所测数据进行了对比,两者之间的最大差值小于1mm,结果表明这种方法切实可行。
Based on electronic theodolite, a novel method for testing the kinematic accuracy of manipulator is developed for the first time. The method is used to identify the pose accuracy of a 6-DOF manipulator depending upon the electronic theodolite. The result is compared with the result tested by a laser tracking apparatus, and the maximum difference between them is less than 1 mm, which shows that this method is feasible.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2007年第12期2206-2209,共4页
Chinese Journal of Scientific Instrument
关键词
电子经纬仪
机械臂
运动精度
electronic theodolite
manipulator
kinematic accuracy
