A method of error compensation for industrial robots

Abstract

The present invention discloses an error compensation method for an industrial robot, belongs to the technical field of application of the industrial robots in machining, and is used in machining processes of parts of the industrial robot, welding of large-sized parts, and the like. According to the method disclosed by the present invention, by comprehensively considering the self-gravity, the external force and the dynamic inertia force of the industrial robot during application, based on the stiffness model, the input amount of displacement of the robot joint is changed according to the elastic error of the robot end, so that the error between the actual motion trajectory and the required motion trajectory is reduced to the range required by the machining, and the two trajectories converge infinitely to coincide; and the error compensation method can improve the machining precision and the quality, reduce the cost of the error compensation, and has the advantages that the compensation method is simple and easy.

Description

technical field [0001] The invention belongs to the technical field of application of industrial robots in machining, in particular to an error compensation method for industrial robots. Background technique [0002] As automation equipment, industrial robots have been widely used in shipbuilding, automobiles, aviation and other industrial fields due to their high repeatability and operational stability. In milling, welding and other processing processes, the trajectory of the robot is often preset to achieve part processing and weld fusion. However, due to the gravity, inertial force and load of the robot itself, the end of the robot will produce Elastic error, that is, the actual trajectory of the robot will deviate from the predetermined trajectory, reducing the processing quality, so the kinematics-based motion control of the robot is no longer suitable for the task requirements. [0003] For the error caused by elastic deformation, one method is to achieve error compen...

AI Technical Summary

Problems solved by technology

In milling, welding and other processing processes, the trajectory of the robot is often preset to achieve part processing and weld fusion. However, due to the gravity, inertial force and load of the robot itself, the end of the robot will produce Elastic error, that is, the actual trajectory of the robot will deviate from the predetermined trajectory, reducing the processing quality, so the kinematics-based motion control of the robot is no longer suitable for the task requirements

[0003] For the error caused by elastic deformation, one method is to achieve error compensation through calibration, but this method usually requires experimental measurement, resulting in increased time and economic costs

Another method is to realize error compensation by correcting the control system of the robot itself. However, since the control system and parts of the robot are confidential products, this method needs to be realized by a professional robot manufacturer, and it is difficult for ordinary users to realize.

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