CoKriging-based absolute positioning error estimation method of mechanical arm

A technology of collaborative kriging and error estimation, applied in the field of robotics, can solve problems such as infeasibility and troublesome modification of non-open source control systems of robotic arms, and achieve the effect of improving accuracy and absolute positioning.

Inactive Publication Date: 2017-04-26
BEIHANG UNIV
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Problems solved by technology

The mechanical arm has the characteristics of high repeat positioning accuracy and high production efficiency, but the absolute positioning accuracy of the mechanical arm cannot meet the actual automation manufacturing requirements, so it is necessary to estimate the absolute positioning error of the mechanical arm
The existing methods for estimating the absolute positioning error of the manipulator are mainly to re-establish the precise kinematics model of the manipulator and compare it with the ideal kinematics model of the manipulator to estimate the absolute position error of the manipulator. Although these methods can obtain The error of the kinematic model, but it is very troublesome to modify the non-open source control system of the robotic arm, and it is not feasible when there is time

Method used

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  • CoKriging-based absolute positioning error estimation method of mechanical arm
  • CoKriging-based absolute positioning error estimation method of mechanical arm
  • CoKriging-based absolute positioning error estimation method of mechanical arm

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Embodiment approach

[0020] see figure 1 , the device used in the present invention is made up of mechanical arm, laser tracker and target ball. The target ball is pasted on the end flange of the mechanical arm.

[0021] The steps of the method of the present invention are described in detail below.

[0022] The specific implementation steps of the inventive method are as follows:

[0023] Step 1: Set up the laser tracker on the ground and keep the position fixed, and paste the target ball on the flange at the end of the mechanical arm, so that the measurement range of the laser tracker can cover the movement space of the mechanical arm;

[0024] Step 2: Use the target ball as the TCP, and the TCP is the center point of the tool. Calibrate the TCP to obtain the positional relationship of the target ball relative to the flange coordinate system at the end of the manipulator; and connect the coordinate system of the laser tracker to the Base mark system;

[0025] Step 3: Compile the NC program t...

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Abstract

The invention, which belongs to the technical field of the robot, discloses a CoKriging-based absolute positioning error estimation method of a mechanical arm. Equipment used by the method consists of an industrial mechanical arm, a laser tracker and a target sphere. The target sphere is pasted to a flange at the tail end of the mechanical arm and is used as a central point of the tool. According to the method, the laser tracker measures practical positions of some points; position errors of theoretical positions and practical positions of the points are obtained; CoKriging interpolation processing is carried out on position errors in X, Y and Z directions and a position error model; and then position error estimation of points in mechanical arm moving space in the X, Y and Z directions is carried out, so that absolute positioning error estimation is realized. The method is independent of the kinematic model of the mechanical arm; the absolute positioning precision of the mechanical arm can be improved; and modification of internal parameters of the non-open-source controller of the mechanical arm can be avoided.

Description

technical field [0001] The present invention relates to robotics, and more specifically, the present invention relates to a method for estimating the absolute positioning error of a manipulator based on co-kriging. Background technique [0002] With the continuous improvement of the level of modern manufacturing and robot industry, robotic arms have been used by more and more manufacturers for automated production activities, such as automobile manufacturing, food processing, aerospace manufacturing, entertainment services, etc. The manipulator has the characteristics of high repeat positioning accuracy and high production efficiency, but the absolute positioning accuracy of the manipulator cannot meet the actual automation manufacturing requirements, so it is necessary to estimate the absolute positioning error of the manipulator. The existing methods for estimating the absolute positioning error of the manipulator are mainly to re-establish the precise kinematics model of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 袁培江陈冬冬林敏青曹双倩刘元伟蔡鹦
Owner BEIHANG UNIV
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