Pose error analysis of robot in three dimension

In terms of 5 parameters model as the kinematics model of robots, according to the transferring relationship of errors between the adjacent linkages, with the position and orientation modeling matrix method, the position and orientation error model of robot in three dimension was built, and the position and orientation error analysis program (software) based on C++ was developed. Upon a 6-DOF (degree of freedom) space photographic robot, the influence rule of the end-effector error of the robot caused by the parameter changes was simulated using this error analysis program, and an equivalence error curve picture of the robot was generated and discussed. Through the 5 parameters error model and the analysis software, the error distribution of the robot's structure is obvious, convenient for the rational usage of robots or emendation for robots' structural errors. The research result provides a basic reference for the error compensation of robots.