关于角度量列为基本量的探讨CSCD

在SI国际单位制中,平面角是导出量,平面角的单位"弧度"是辅助单位。但是,平面角既不能由长度基本单位导出,又不能溯源至长度基本单位,因此不能确立导出关系。平面角应用广泛,作用重要,具有独特的性能,符合基本量的要求,因此提出:平面角,简称"角度",是基本量;平面角的单位"度、(角)分、(角)秒",是基本单位,以供探讨。

Review on Kinematics Calibration Technology of Manipulator

Robotic manipulator kinematics calibration is of great significance to improve the absolute positioning accuracy, and it has become the target of extensive research to explore the efficient method of robotic manipulator calibration. In this article, calibration methods are classified into model-based parameter kinematics calibration, autonomous calibration and non-parametric kinematics calibration. It introduces the research status of the model-based parameter kinematics calibration from kinematics calibration modeling, measurement of terminal attitude, parameter identification and error compensation. After comparing the various calibration methods, their advantages and disadvantages are extracted. Finally, the problems existing in the robotic manipulator kinematics calibration are analyzed and the future development trend of the calibration technique is prospected.