• 作者： 蔡穎堅；孫榮宏
• 作者服務機構： 國立中山大學機械工程學系
• 中文摘要： 機械臂由於加工、安裝及變形等種種因數而致使各關節?生了幾何誤差。換言之，各運動對（Kinematic Pairs )間的 運動參數（Kinematic Parameters )已與原設計用以計算機械臂的手端運動路徑的蓮動參數有所差異，因此將導致路徑規 劃的偏差。本文係以運動學的理論導出機械臂各關節的幾何誤差與手端定位精度的關係。再利用機械臂在幾個特定點的理論 值與實際值的誤差，以一套能兼解方陣或非方陣，奇陣或非奇陣（Non-singular Matrix )問題的零特徵法（Zero Eigenvalue Method )求出各關節的幾何誤差。一旦各運動參數的誤差被解出，據此即可修正各參數值而達到改進其路徑規劃的目的。
• 英文摘要： Due to machining accuracy, assembling alignment, and deformation, the real kinematic parameters of a robot which are used to compute the trajectory of the end effector may differ from those of the original design. These errors in kinematic parameters will cause a deviation in trajectory planning of the robot. Using the kinematic approach, the effects of kinematic parameter errors of each joint of a robot on the position and orientation accuracy of the end effector can be found. This study applies the zero eigenvalue theorem, which has been applied to solve non-square and singular problems, to find the kinematic parameter errors of each joint by checking the position and orientation of the end effector at some specified locations. As these errors are solved, trajectory planning can be modified by using the corrected kinematic parameters.
• 中文關鍵字： robot; kinematics; errors
• 英文關鍵字： --