Manipulating industrial robots. Automatic end effector exchange systems. Vocabulary and presentation of characteristics.
控制型工业机器人。自动和效果交换器。词汇和特性说明。
By the partial optimization to the robot with a sphere-wrist, the kinematic accuracy of the end effector of the whole robot can be increased to some extent.
通过对机器人球腕进行的局部优化，整个机器人末端执行器的运动精度将在一定程度上有所提高。
On the basis of the robot kinematics and the theory of errors, formulas for calculating the position and orientation errors of the robot end effector are derived.
本文以机器人运动学及误差理论为基础，推导出了在各种位姿描述情况下机器人位置和姿态误差的计算公式。
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