终端效应器的补偿策略提出了基于具有RDOF的连续机器人的虚拟约束的精度
Kaixian Ba1, Chunhao Chen1, Guoliang Ma1
1State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao 066004, China.
Fundamental research
|February 6, 2026
概括
本研究引入了一种基于虚拟约束的补偿器,以提高冗余串行机器人的终端效应器姿势精度. 该方法显著减少了位置错误,提高了机器人任务的准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
背景情况:
- 具有冗余自由度的连续机器人需要高端效应器来完成复杂任务.
- 联合执行器的累积错误对实现这种精度构成了重大挑战.
研究的目的:
- 提出和验证一种基于虚拟约束的新型终端效应器,为冗余的串行机器人提供补偿.
- 为了解决和减轻由联合执行器不准确引起的终端效应器构成错误.
主要方法:
- 拟议的方法将实际的关节角视为虚拟约束.
- 这些虚拟约束,以及所需的终端效应器姿势,决定了其他关节的补偿角度.
- 补偿角度用于调整其他关节角度,纠正姿势错误.
主要成果:
- 在一个3度自由度平面串行机器人上的实验验证表明了显著的错误减少.
- 补偿器实现了足部末端位置错误的最大减少,超过75%.
- 该策略提高了终端效应者的位置精度,补充了现有的高精度联合控制方法.
结论:
- 基于虚拟约束的补偿器是一种有效的策略,可以提高冗余串行机器人的最终效应器位置精度.
- 这种方法提供了一个新的解决方案,通过实验证据来补偿复杂的机器人系统中的错误.
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