The Study of Kinematical Parameters and Motion Analysis of a Robot Manipulation
碩士 === 國立交通大學 === 機械工程研究所 === 85 === Because of the difference between of the design values and the real values resulting from manufacturing, installation and deflection of the robot arm, the influence to the positioning accuracy becomes more important. The focal point of this research is to aim...
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| Format: | Others |
| Language: | zh-TW |
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1997
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| Online Access: | http://ndltd.ncl.edu.tw/handle/22278998932804822764 |
| Summary: | 碩士 === 國立交通大學 === 機械工程研究所 === 85 ===
Because of the difference between of the design values and the real values resulting from manufacturing, installation and deflection of the robot arm, the influence to the positioning accuracy becomes more important. The focal point of this research is to aim directly at the design procedure of the robot with four degree freedom to error compensation, parameter sensitive analysis and manipulability for positioning accuracy, so as to establish an easy way to practical analysis and programming. The keen factor to the error compensation during manufacturing and assembly of the robot arm is made up from sensitivity of positioning accuracy to the kinematical parameters of the robot arm so as to lay out the robot arm sensitivity from the manipulability index. And then we can measure the different position of the robot arm in space coordinate by means of 3D laser tracker in order to set up a correlated model between the error to each kinematics parameters and the accuracy to the robot arm based on kinematics theory. The parameter compensation feeds back to the control system of the robot so that we can improve the positioning accuracy of the robot arm in space and we can figure out a reference to control and project a robot arm for suitable trajectory in a more accurate position at work by tracing the locus coordinate at the same time.
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