Robot Position Error Compensation Method Based on Distance Identification of Redundant Kinematic Parameters

Abstract

The invention discloses a position error compensation method for a distance recognition superfluous kinematics parameter-based robot. Superfluous parameters in kinematics parameters are removed firstly to determine recognizable kinematics parameters of the robot; then, calculation is performed to obtain a parameter error calculation model, and compensation is performed by aiming at a parameter error, so that the problem of a singular matrix can be avoided, the calculated amount is effectively reduced, and the accuracy is improved; moreover, a compensation effect is obvious; the standard deviation of a distance error of the robot is greatly reduced, and the positioning accuracy of the robot is greatly improved. The position error compensation method for the distance recognition superfluous kinematics parameter-based robot, disclosed by the invention, can be widely applied to the field of robot research.

Description

Technical field [0001] The invention relates to a robot position error compensation method, in particular to a robot position error compensation method based on distance recognition redundant kinematic parameters. Background technique [0002] The repeatability of industrial robots is generally very high, usually within 0.1mm. Early robots mostly used teaching programming, so they only need to have high repeatability to meet industrial needs. However, as the application range of robots is further expanded, offline robot programming is becoming more and more common, but the positioning accuracy is very low, which cannot meet the accuracy requirements of offline programming. At the same time, measuring the absolute position accuracy of the robot must involve the coordinate transformation between the measurement system coordinate system and the robot coordinate system. This transformation matrix is ​​difficult to accurately determine, and ultimately leads to a decrease in the measur...

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Problems solved by technology

[0003] The accuracy of the robot is detected by the distance error method, and the error increased by the conversion between the robot coordinate system and the measurement coordinate system can be reduced. However, the above research distance models all use geometric analysis methods, which require strong skills; and compensate all joints. kinematic parameter error, the error parameter matrix used in the solution process will produce singular values, and part of the kinematic parameter information will be lost in the process of solving the singular value

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