| 摘要 |
A multiple degree-of-freedom ultra-precision (DOF) robotic system yielding either rigid body guidance or large deformation analysis (LDRS, i.e. semi-flexible and flexible robotics) is developed based on the technology of integrating a multiple DOF ultra-precision shadow robotic measurement system with a multiple DOF robot for form a closed-loop linkage chain to establish a corresponding closed-loop feedback control of end-effecter of said robotic system without the use and limitation of any target or artificial marker in work-cell as the reference. In this way, the major degrading problems that greatly drag down the positioning accuracy of a robot have been fairly resolved. The embodiment conducts the details of the development of such a multiple DOF ultra-precision robotic system for the general applications in precision engineering.
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