Robot accuracy compensation method synthesizing pose error model and rigidity compensation

An error model and precision compensation technology, applied in the field of robot calibration, can solve problems such as low efficiency and complicated process, and achieve the effect of improving online work efficiency and eliminating the calculation and derivation process
CN106737855AActive Publication Date: 2017-05-31NANJING UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING UNIV OF SCI & TECH
Publication Date
2017-05-31

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Abstract

The invention discloses a robot accuracy compensation method synthesizing a pose error model and rigidity compensation. The method comprises the following steps: step 1, establishing a robot motion model according to structural parameter of a robot; step 2, establishing a robot error model; step 3, in a robot working space, randomly giving a target pose point, and when a tail end of the robot moves a designated point, recording a joint angle at the moment; step 4, using a position measuring instrument to measure actual coordinates Pa of the given target pose point; step 5, using a least square method to recognize an error parameter; step 6, applying a load at the tail end of the robot, measuring the deformation amount of the robot, then returning to step 3, compensating a re-recognized structural error for the motion model again, thereby eliminating the pose error of the tail end due to the deformation caused by the load, and meanwhile, data of the deformation amount caused by the load is stored in a database for later accuracy compensation. According to the invention, the absolute positioning accuracy of the robot can be improved remarkably, and high simplicity and high efficiency are realized.
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Description

technical field

[0001] The invention belongs to the technical field of robot calibration, in particular to a robot precision compensation method which integrates pose error model and stiffness compensation. Background technique

[0002] With the promulgation of "Made in China 2025 Outline", industrial robots will set off another development boom in our country. As an important index to measure the performance of industrial robots, accuracy includes repeat positioning accuracy and absolute positioning accuracy. Today's industrial robots have high repetitive positioning accuracy, but low absolute positioning accuracy, which is not conducive to off-line programming and high-precision machining. The robot kinematics calibration is an effective means to improve the positioning accuracy of the robot, which mainly includes four stages: modeling, measurement, identification, and compensation.

[0003] The traditional method of robot calibration only compensates for errors caused b...

Claims

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