机械臂绝对定位精度标定关键技术综述.

Nowadays,domestic main aircraft and satellites fabrication are still using artificial assembly. Old-fashion assembly technology and low robot absolute position accuracy problems are difficult to satisfy the requirement of high precision,high performance of aircraft and satellite. It hinders the development of industrial robots in aviation manufacturing industry. Thus in the process of robot flexible automated assembly,how to improve the mechanical manipulator absolute positioning accuracy calibration technology has become wide focus on academia and industry. In order to systematically analyze and summarize the existing research results,this paper discussed absolute positioning accuracy calibration methods. It summarized the research status of the mechanical arm calibration technology at home and abroad. It analysed key technologies such as the error of uncertainty,elimination of redundant parameters and the optimal measuring structure selectivity. This paper conceived and looked to the future development trends of manipulator absolute positioning accuracy calibration technique. [ABSTRACT FROM AUTHOR]