Study of error compensation method for magnetic heading measurement system 磁航向測量系統(tǒng)誤差修正方法研究
Axis - misalignment error compensation method based on optical alignment for a multi - sensor assembly 基于光對準(zhǔn)的多傳感器軸裝配誤差補(bǔ)償技術(shù)
Technology for enhancing the grinding accuracy of precision cam by geometric error compensation method 提高精密凸輪磨削精度的幾何誤差補(bǔ)償技術(shù)
Finally , system ’ s measurement error and error compensation method are analyzed , and some measures of anti - interference are taken to improve system ’ s reliability . the project was finished by combination the theory and the practice , and a new way on peterson coil automatic compensation is available 本課題將理論運(yùn)用和實(shí)踐相結(jié)合,為中性點(diǎn)經(jīng)消弧線圈接地系統(tǒng)的自動調(diào)諧提供了一種新的技術(shù)手段,具有廣闊的應(yīng)用前景。
In chapter 2 , author points out firstly that the elastic deformation of elastic units of a robot ' s wrist force sensor will be enlarged by the end - effector , the instruments and the work pieces , so the elastic deformation of the sensor will influence the location accuracy or kinetic accuracy of end point of a robot , under the condition of that the robot technology facing the developing of heavy load , light mass and high accuracy . it is discussed respectively that the relationship between the differential kinemics in the sensor ' s coordinate and the location accuracy or kinetic accuracy of the end point . error matrixes of location and kinemics of the end point are presented respectively based on the differential kinemics in the sensor ' s coordinate , and the on - line error compensation methods are introduced subsequently 第二章首先指出機(jī)器人腕力傳感器彈性體的彈性變形經(jīng)過機(jī)器人末端連桿、工具、工件等的放大后,會對機(jī)器人末端精確定位和運(yùn)動產(chǎn)生的影響;然后分別研究了傳感器坐標(biāo)系內(nèi)的微分運(yùn)動與機(jī)器人末端工件精確定位、運(yùn)動的關(guān)系;在此基礎(chǔ)上,研究了基于腕力傳感器彈性體微分運(yùn)動的機(jī)器人末端定位、運(yùn)動誤差的誤差矩陣及其在線誤差補(bǔ)償方法;基于機(jī)器人動力學(xué)的機(jī)器人末端定位、運(yùn)動誤差的誤差矩陣及其在線誤差補(bǔ)償方法;最后,以puma型機(jī)器人為對象,給出了基于腕力傳感器內(nèi)微分運(yùn)動的機(jī)器人末端定位、運(yùn)動誤差及其在線補(bǔ)償方法的仿真實(shí)例:給出了基于機(jī)器人動力學(xué)的機(jī)器人末端定位、運(yùn)動誤差及其在線補(bǔ)償方法的仿真實(shí)例;仿真結(jié)果表明, 1 )基于腕力傳感器的機(jī)器人末端定位誤差在腕力傳感器允許的載荷下可達(dá)十分之幾毫米級。