机械臂绝对定位精度标定关键技术综述高涵;张明路;张小俊;白丰【期刊名称】计算机应用研究【年(卷)，期】2017(034)009【摘要】Nowadays,domestic main aircraft and satellites fabrication are still using artificial assembly.Old-fashio n assembly tech no logy and low robot absolute position accuracy problems are difficult to satisfy the requirement of high precisionzhigh performanee of aircraft and satellite.lt 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 calibrati on tech no logy 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.lt summarized the research status of the mechanical arm calibration technology at home and abroad.lt analysed key tech no logies such as the error of uncertai ntyzelirni natio n of redu ndant parameters and the optimal measuri ng structure selectivity.This paper conceived and looked to the future development trends of manipulator absolute positioning accuracy calibration technique.%目前我国飞机和卫星装配仍主要采用人工装配，装配技术陈旧、机 器人绝对定位精度低等问题难以满足飞机和卫星高精度、高性能的要求，阻碍了