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Error sensitivity analysis of tandem robot
based on differential method |
1. School of Artificial Intelligence, Ma′anshan University, Ma′anshan, Anhui 243100, China； 2. School of Mechanical Engineering, Jiangnan University， Wuxi， Jiangsu 214000, China； 3. Zhongda Electronics (Jiangsu) Co., Ltd., Suzhou, Jiangsu 215000, China
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Abstract To improve the absolute positioning accuracy of tandem robot, a method of analyzing robot error sources was proposed based on differential method and matrix method. The small errors of the single link attitude matrix were analyzed, and the integral method was used to analyze the pose errors of the ends of multiple links.By the differential method and the modified DenavitHartenberg (MDH) kinematics model, the sensitivity of the end pose error was also analyzed. The Matlab software was used to obtain the influence curve of the twist and rotation angles of the four joints of robot on the end pose and the influence curve of connecting rod length and offset on the end pose. The results show that the kinematic errors of geometric parameters with great influence on the end pose can be analyzed and avoided by the influence curves, and the problem of absolute accuracy of tandem robot can be solved from the source.
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