A Kinematics Calibration Method for Hybrid Robot

Abstract

The invention discloses a hybrid robot kinematics calibration method, comprising the following steps: step 1: establishing a hybrid robot geometric error model based on the screw theory; step 2: obtaining the end position of the hybrid robot based on the spatial position detection information of a laser tracker Attitude error; Step 3: Identify the geometric error source based on the Liu estimation method; Step 4: Implement error compensation step by step based on the modified controller output method. The present invention is a kinematics calibration method of a hybrid robot that is accurate, high in efficiency, convenient for industrial field application, and can be implemented based on the full-dimensional or less-dimensional pose error detection information at the end of the robot. The method of the present invention can establish an error model that satisfies completeness, minimalism, and continuity, and the model variables have clear physical meanings, effectively solves the problem of ill-conditioned identification matrix, improves the accuracy of error source identification and the stability of identification results, and further improves the compensation accuracy. .

Description

technical field [0001] The invention belongs to the field of robots, and relates to a kinematics calibration technology of an industrial robot, in particular to a kinematics calibration method of a hybrid robot. Background technique [0002] The five (six) degrees of freedom hybrid robot is a new type of multi-axis linkage processing equipment, which is built by a three-degree-of-freedom parallel mechanism and a two (three)-degree-of-freedom serial rotor. With the characteristics of large size and high rigidity, aiming at high-speed and high-precision machining, it has broad application prospects in the field of processing and manufacturing in large-scale non-structural environments. Hybrid robots such as Tricept and Exechon have been initially applied in aerospace, automobile manufacturing and other fields, and have achieved good results. [0003] Geometric accuracy is one of the important performance indicators of this type of hybrid robot. On the premise of good basic m...

AI Technical Summary

Problems solved by technology

First, this type of hybrid robot has a large number of joints, each joint has six error sources, and there are multiple structural errors between two joints. Second, this type of hybrid robot has an ill-conditioned identification matrix problem in the error identification process. The traditional identification method (such as the least squares method) has poor robustness and unstable identification results, making it difficult to achieve high-precision error compensation.

Images