机器人几何参数误差模型

位置误差与姿态误差

Δp=∑i=16(∂pn∂θiΔθi+∂pn∂diΔdi)+∑i=05(∂pn∂αiΔαi+∂pn∂aiΔai)+∂pn∂β2Δβ2+∂pn∂x2Δx2+∂pn∂y2Δy2+∂pn∂z2Δz2 \Delta p=\sum_{i=1}^{6}(\frac{\partial p^{n}}{\partial \theta_i}\Delta\theta_{i}+\frac{\partial p^{n}}{\partial d_i}\Delta d_{i})+\sum_{i=0}^{5}(\frac{\partial p^{n}}{\partial \alpha_i}\Delta\alpha_{i}+\frac{\partial p^{n}}{\partial a_i}\Delta a_{i})+\frac{\partial p^n}{\partial \beta_2}\Delta\beta_2+\frac{\partial p^n}{\partial x_2}\Delta x_2+\frac{\partial p^n}{\partial y_2}\Delta y_2+\frac{\partial p^n}{\partial z_2}\Delta z_2 Δp=i=1∑6​(∂θi​∂pn​Δθi​+∂di​∂pn​Δdi​)+i=0∑5​(∂αi​∂pn​Δαi​+∂ai​∂pn​Δai​)+∂β2​∂pn​Δβ