Robot Modeling and Parameter Identification Based on an Exponential Product Formula
For a six-axis robot,due to the lack of flexibility of its own joints and insufficient rigidity of the robotic arm,the posi-tioning accuracy of the end of the robot during the remodeling process is not high,which causes the robot to produce processing er-rors.In order to improve the machining accuracy of robot repair,it establishes the error model of the MOTOMAN UP50 robot based on the exponential product formula,and derives the error compensation model and parameter identification method of the six-axis robot based on the exponential product formula.The MOTOMAN UP50 robot experiment platform is used to perform re-pair processing measurement experiments on parts and components,and the established error compensation model is used to veri-fy.The experimental results show that the error model based on the exponential product formula can help improve the robot repair processing,thereby verifying its the correctness of the method.
NETL
NSTL
万方数据
维普
