The influence analysis of parameter errors for multi-legged walking robot

被引：0
|
作者：
Zou, Jingchao [1 ]
Wang, Liangwen [2 ]
Zhang, Xiaohui [2 ]
Li, Ansheng [2 ]
机构：
[1] Huanghe Sci & Technol Coll, Coll Engn, Zhengzhou 450015, Henan, Peoples R China
[2] Zhengzhou Univ Light Ind, Dept Electromech Sci & Engn, Zhengzhou 450002, Henan, Peoples R China
来源：
EQUIPMENT MANUFACTURING TECHNOLOGY AND AUTOMATION, PTS 1-3 | 2011年 / 317-319卷
关键词：
multi-legged walking robot; forward kinematics; motion error; degree of error influence;
D O I：
10.4028/www.scientific.net/AMR.317-319.823
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Because the structural and motion parameters errors, when the robot move in the ideal situation, actual posture of the robot is likely to deviate from its required position. Based on the discussion of forward kinematics, which is calculating the influence of error sources on the posture error of robot, is researched in this paper, and an example is used to explain. The effect of each parameter on posture error can be evaluated by analyzing the results of example. The designer can make different error control method for each parameter according to the influence of them.
引用
收藏
页码：823 / +
页数：2
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