郑慧峰,周晓军,李雄兵.基于本体多关节的超声检测机器人误差补偿[J].农业机械学报,2008,39(4):164-167.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(4):164-167.
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基于本体多关节的超声检测机器人误差补偿   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  机器人  超声检测  运动学  误差补偿
基金项目:
郑慧峰  周晓军  李雄兵
浙江大学
中文摘要:超声波检测对方向性有较高要求,特别对曲面型工件进行检测时,需对探头终端的位姿进行误差软件补偿来提高检测的精度。本文首先对超声检测机器人进行运动学分析,然后通过分析其检测位姿误差的来源和特点,阐述基于本体多关节误差补偿的原理和补偿模型。最后,通过实例验证了该误差补偿方法的正确性,为计算机控制超声探头进行曲面检测提供准确的控制参数,实现了曲面形工件的连续超声检测。
Key Words:
Abstract:For the high need of direction aiming at ultrasonic testing, especially the test of surface work-pieces, it is necessary to make error compensation to improve the test accuracy. The kinematics analysis of ultrasonic robot was firstly done, then the principle and compensation model of multi-joint error compensation was expatiated though the analysis of sources and traits of the pose error. Finally the example was given to validate the error compensation method, by which the continuous ultrasonic test for curve surface was realized by exact control parameters. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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