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首页> 外文会议>Human System Interactions, 2009. HSI '09 >Kinematics, workspace, design and accuracy analysis of RPRPR medical parallel robot
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Kinematics, workspace, design and accuracy analysis of RPRPR medical parallel robot

机译：RPRPR医用并联机器人的运动学，工作空间，设计和精度分析

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In recent years, parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. Practical methods of kinematic's calibration make use of the linear differential error of the kinematics' model. This model is based on the Jacobian of the direct kinematics' model with respect to parameters of this model. The definition of the robot accuracy is usually related to robot positioning, so that the accuracy is defined as a measure of robot ability to attain a required position with respect to a fixed absolute reference coordinate frame. Such a definition is easily extended to trajectory tracking. Then, accuracy can be defined as a measure of robot ability to track the prescribed trajectory with respect to the absolute coordinate frame.
机译：近年来，并行机器人在人机交互，医疗机器人，康复，外骨骼等领域都有许多应用。这些应用程序具有许多必要条件，其中以鲁棒的精度和动态工作空间计算为最终要求。运动学标定的实用方法利用了运动学模型的线性微分误差。该模型基于直接运动学模型的雅可比定律。机器人精度的定义通常与机器人定位有关，因此，精度被定义为机器人相对于固定的绝对参考坐标系获得所需位置的能力的度量。这样的定义很容易扩展到轨迹跟踪。然后，可以将精度定义为机器人相对于绝对坐标系跟踪规定轨迹的能力的度量。

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