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基于D-H模型的弧焊机器人位姿精度可靠性分析方法研究
Alternative TitleResearch on the Method of Arc Welding Robot Pose Precision Reliability Analysis Based on D-H Model
李佳; 谢里阳; 许石哲; 孙红春; 张晓瑾; 朱思俊; 袁自成
Department装备制造技术研究室
Conference Name2011 3rd World Congress in Applied Computing, Computer Science, and Computer Engineering(ACC 2011)
Conference DateJuly 16-17, 2011
Conference PlaceKota Kinabalu, Malaysia
Author of SourceIntelligent Information Technology Application Association
Source Publication2011 3rd World Congress in Applied Computing, Computer Science, and Computer Engineering
PublisherIERI
Publication PlaceHamburg, Germany
2011
Pages439-443
Indexed ByCPCI(ISTP)
WOS IDWOS:000307435500071
Contribution Rank2
ISBN978-1-61275-993-7
Keyword弧焊机器人 位姿精度 D-h模型 Monte Carlo方法 可靠性分析
Abstract提高焊接工业机器人位姿精度可靠性是现代焊接机器人技术发展中的一个重要课题。位姿精度可靠性的影响因素具有随机性,属于随机变量,位姿精度研究应从概率的观点进行可靠性分析。本文提出了弧焊机器人位姿精度可靠性分析方法,该方法基于D-H模型,运用位姿误差矩阵法和Monte Carlo随机抽样仿真技术,能够得到末端位姿误差分布,计算给定误差极限条件下的可靠度,能够较正确客观地评价机器人位姿精度可靠性。
Other AbstractDuring the development process of modern welding robot technological, an important topic is how to enhance the welding industry robot pose precision reliability. The effect factors of pose precision reliability poses the random characters, which belong to the random variable, the pose precision should be researched from the viewpoint of probability for analyzing reliability. This work present a method of arc welding robot pose precision reliability analysis based on the D-H model, this method apply the pose error matrix and Monte Carlo for random sampling. The terminal pose error distribution may be obtained by using this method, and the reliability can be computed under the condition of assigned error boundary, it can evaluate the robot pose precision reliability objectively and correctly.
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19144
Collection智能产线与系统研究室
Affiliation1.东北大学机械工程与自动化学院
2.沈阳自动化研究所
Recommended Citation
GB/T 7714
李佳,谢里阳,许石哲,等. 基于D-H模型的弧焊机器人位姿精度可靠性分析方法研究[C]//Intelligent Information Technology Application Association. Hamburg, Germany:IERI,2011:439-443.
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