关键词: 补偿, 机器人学, 数字仿真, 误差

Abstract: 　　Combining the concept of the error sensitivity with robotics, a new approach to the analysis on the error prominency factors of robots is proposed. In numerical quantities, it can express the synthetical influence on the pose error of the end effecter resulted from every DH parameter errors within the whole working space of the robot. A numerical simulating research has made on PUMA560 model robot. It shows that the above approach can get twice the result with half the effort to the simplification of the error model and algorithm and to the decision on the optimum design of robots.

Key words: Compensation, Error, Numerical simulation, Robotics