Research on error compensation of multi-joint ultrasonic robot based on ontology

被引：0

作者：

Zheng, Huifeng ^{[1
]}

Zhou, Xiaojun ^{[1
]}

Li, Xiongbing ^{[1
]}

机构：

[1] Zhejiang University, Hangzhou 310027, China

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2008年 / 39卷 / 04期

关键词：

Industrial robots - Kinematics - Ontology - Ultrasonic testing;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

For the high need of direction aiming at ultrasonic testing, especially the test of surface work-pieces, it is necessary to make error compensation to improve the test accuracy. The kinematics analysis of ultrasonic robot was firstly done, then the principle and compensation model of multi-joint error compensation was expatiated though the analysis of sources and traits of the pose error. Finally the example was given to validate the error compensation method, by which the continuous ultrasonic test for curve surface was realized by exact control parameters.

引用

页码：164 / 167

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