In this paper, spherical coordinate robot is taken as example for studying kinematies, repeatability and linear compensation problems of manipulator. 本文以作者所在单位开发的极坐标三自由度电伺服机器人为例,讨论其运动学重复再现精度、操作器的线性及非线性补偿等问题。
Linear compensation of manipulator for spherical coordinate robot 极坐标机器人操作器的线性补偿
The graphic methods of robot workspace and inscribed cube ( cartesian coordinate robot, circular cylindrical coordinate robot, spherical coordinate robot and multilink robot with 3R degrees of freedom) are studied in this paper. 该文研究了直角坐标型、圆柱坐标型、球坐标型及多关节型(主运动自由度数为3)机器人工作空间与包容空间的几何图解法。