Study of design, kinematics and accuracy modelling of 3 degrees of freedom robot

摘要

Practical methods of kinematic’s calibration makeuse of the linear differential error of the kinematics’ model.This model is based on the Jacobian of direct kinematics’model with respect to the parameters of this model. Thedefinition of robot accuracy is usually related to robot positioning,so that the accuracy is defined as a measure ofrobot ability to attain a required position with respect to afixed absolute reference coordinate frame. Such a definitionis easily extended to trajectory tracking. Then, accuracycan be defined as a measure of robot ability to trackthe prescribed trajectory with respect to the absolute coordinateframe.