本文選題：精度補(bǔ)償　切入點(diǎn)：最優(yōu)采樣點(diǎn)　出處：《機(jī)器人》2017年02期 　論文類(lèi)型：期刊論文

【摘要】：針對(duì)基于誤差相似性的機(jī)器人精度補(bǔ)償方法,提出一種機(jī)器人采樣點(diǎn)的多目標(biāo)優(yōu)化方法.首先,定性分析了采樣點(diǎn)對(duì)于精度補(bǔ)償效果的影響,并根據(jù)精度補(bǔ)償?shù)墓こ虘?yīng)用需求,提出了最優(yōu)采樣點(diǎn)的特征和數(shù)學(xué)模型.其次,為解決最優(yōu)采樣點(diǎn)的優(yōu)化問(wèn)題,提出了基于NSGA-Ⅱ(快速非支配排序遺傳算法)的采樣點(diǎn)多目標(biāo)優(yōu)化方法.最后,試驗(yàn)驗(yàn)證和比較分析表明,最優(yōu)采樣點(diǎn)能夠?qū)C(jī)器人的最大定位誤差由1.4953 mm降低至0.2752 mm,補(bǔ)償效果優(yōu)于另外2組隨機(jī)采樣點(diǎn),驗(yàn)證了本文方法的可行性和有效性.
[Abstract]:Aiming at the accuracy compensation method of robot based on error similarity, a multi-objective optimization method for robot sampling points is proposed. Firstly, the effect of sampling points on precision compensation effect is analyzed qualitatively, and according to the engineering application requirements of precision compensation. The characteristics and mathematical model of optimal sampling points are proposed. Secondly, in order to solve the optimization problem of optimal sampling points, a multi-objective optimization method of sampling points based on NSGA- 鈪，

本文編號(hào)：1593097