Method capable of automatically eliminating motion accumulated error of robot

Abstract

The invention discloses a method capable of automatically eliminating a motion accumulated error of a robot. The problems that the robot is required to be stopped working in the process of eliminating an operating error of the robot, the processing continuity is blocked and the high efficiency and accuracy during the processing and production of the robot are reduced in the prior art are solved. The method comprises the following steps of: (1) obtaining an actual position relationship of joints of the robot and actual information of an actual rotating angle through a visual detection algorithm; (2) obtaining a theoretical position relationship of joints of the robot and theoretical rotating angle information through a path planning algorithm by taking the original motion path as reference; (3) comparing the actual information obtained in the step (1) with the theoretical information obtained in the step (2) to obtain an accumulated error value of the robot; and (4) automatically loading the accumulated error value into a motion control program, and performing position compensation on each joint according to the accumulated error value so as to finish online zero calibration.

Description

technical field [0001] The invention relates to a method for eliminating motion errors, specifically, a method for automatically eliminating accumulated errors in robot motion. Background technique [0002] The robot is mainly used to grip the workpiece to be processed. As an auxiliary equipment for production and processing, it is widely used. Generally, when the robot is working, it is necessary to teach or program the trajectories and actions that need to be moved in advance, and then the robot moves according to the preset program. However, there will be accumulated errors after the robot works for a period of time, which will cause the actual trajectory of the robot to deviate from the theoretical trajectory. In order to eliminate the cumulative error, the robot is generally stopped and its zero position is repositioned to correct the deviation on its motion track, which inevitably blocks the continuity of the processing operation and seriously affects the production ...

AI Technical Summary

Problems solved by technology

However, after the robot works for a period of time, there will be accumulated errors, which will cause the actual trajectory of the robot to deviate from the theoretical trajectory.

In order to eliminate the cumulative error, the robot is generally stopped and its zero position is repositioned to correct the deviation on its motion track, which inevitably blocks the continuity of the processing operation and seriously affects the production Processing efficiency and precision

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