中文摘要：

研究了机器人各轴运动角度误差的测量与控制补偿技术。讨论了各因素对运动角度误差影响的显著性，独立分析了电机运动控制误差和关节连杆变形误差模型。设计了双轴正交惯性测量方案，通过预先测量机器人各轴运动范围回转角度误差，得到机器人运动空间几何误差分布，基于多元统计学分析确立了不同因素对运动角度误差的影响系数，基于正交多项式拟合建立了各轴定位误差分布模型，在机器人运行前利用该模型计算误差补偿量，控制机器人进行定位补偿。同时，对所提出的机器人各轴运动误差分布规律和正交多项式拟合方法进行了分析，并使用激光跟踪仪测量验证了机器人末端定位精度的补偿效果。研究结果表明，通过对机器人自身性能的研究和补偿可以提高机器人控制精度。

英文摘要：

A measurement and control technology is presented to compensate the movement angle error for each axis of the robot. The effect significance of various factors on the movement angle error is discussed. The control error model of motor moving and the deformation error model of joint or link are analyzed independently. A measuring scheme based on biaxial orthogonal inertial measurement is proposed. In order to obtain the distribution of the space geometric error, the angle error of each robot axis is measured in the motion range of every axis in advance. Then the orthogonal polynomial fitting is used to establish the position error distribution model of each axis. An error compensation value is calculated using the proposed model before the robot runs, so as to control the robot for position compensation. The distribution law of each axis motion error in the robot and the way of orthogonal polynomial fitting are analyzed. The laser tracker is used to measure the compensation effect of the position accuracy of the robot end. The robot control accuracy can be improved by studying robot performance and its compensation.