Substation type precision compensation for robot system with additional external shaft

Abstract

The invention discloses a substation type precision compensation for a robot system with an additional external shaft, belongs to the technical field of industrial robot reverse calibration, and aims to solve the difficulty in compensating the error of the external shaft (guide rail) of the industrial robot. According to the method, based on a robot envelope line, the guide rail is divided into a plurality of substations and substation type compensation is performed. The method comprises the steps: a laser tracker is adopted to measure and recognize the error of the external shaft (guide rail) and the robot, and the compensation for the tail end error of the robot is completed through inputting corrected control commands into the robot. During measurement and recognition of the error of the external shaft, an auxiliary coordinate system is introduced so as to allow the measuring process to be simple and quick, and meanwhile to ensure the precision. Through test verification, the method can greatly improve the absolute positioning precision of the robot with the additional external shaft, so as to allow the robot to be suitable for wider applications.

Description

technical field [0001] The invention relates to a positioning error compensation method of a robot system with an additional external axis, in particular to an accuracy compensation method adopting a substation working mode, and belongs to the technical field of inverse calibration of industrial robots. Background technique [0002] With the widespread application of industrial robots in industrial production, it is an inevitable trend in the development of robot technology to replace teaching programming with robot off-line programming technology. However, the implementation of robot off-line programming technology relies on the absolute positioning accuracy of the robot. Generally, industrial robots have high repeat positioning accuracy, which can reach ±0.1mm, while the absolute positioning accuracy is relatively low, only ±2-3mm. Therefore, it is necessary to use industrial robot inverse calibration technology to improve the absolute positioning accuracy of robots. [0...

AI Technical Summary

Problems solved by technology

[0005] (1) The robot itself is a large mass load, and the additional external axis will inevitably reduce the response speed and consume energy during the positioning process of continuously driving this large load;

[0006] (2) The final positioning accuracy of the system is not only related to the robot, but also related to the additional external axis. The complexity of the error of the additional external axis in the continuous motion process leads to the uncertainty of the system accuracy. Therefore, the manufacturing and assembly of the additional external axis and installation accuracy requirements are high, which will greatly increase the cost of the robot system

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