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本文根据控制系统的设计要求和机器人的工作稳定性要求,提出三种机器人机构精度综合的评价函数:(1)运动精度最低化单目标评价函数,(2)误差波动最小化单目标评价函数,(3)综合考虑运动精度和误差波动的多目标评价函数。并引入了三个衡量优化结果的实用指标。最后,以5R 焊接机器人为例进行优化计算。
According to the design requirements of the control system and the requirements of the stability of the robot, this paper proposes three comprehensive evaluation functions for robot mechanism accuracy: (1) single target evaluation function with the lowest motion accuracy, (2) single objective evaluation function with minimum error fluctuation, (3) A multi-objective evaluation function considering the motion accuracy and error fluctuation. And introduced three practical indicators to measure the optimization results. Finally, take 5R welding robots as an example to optimize calculation.