Method and device for improving parameter precision of industry robot

Abstract

The invention relates to a method and device for improving the parameter precision of an industry robot. The method comprises the steps that the error categories to which the errors generated by the robot belong are determined, and at least two error categories are included; and according to the error categories to which the errors belong, treatment is conducted, and accordingly the parameter precision of the robot is improved. Errors are divided into errors which cannot be offset and compensating errors, the compensating errors are controlled in a robot parameter calibration manner, the errors which cannot be offset are controlled through optimization of the component manufacturing and assembling technology, and the robot parameter precision meets the preset precision requirement. The error categories to which the errors generated by the robot belong are classified, treatment is conducted according to the different error categories, the industry robot kinematics calibration complexityis reduced, and the parameter precision of the industry robot can be improved with higher efficiency.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method and device for improving the parameter accuracy of industrial robots. Background technique [0002] With the continuous development of science and technology, robots are playing an increasingly important role in peoples life and production. The problem of precision is one of the key difficulties to be solved in the development and production of industrial robots. Whether the problem of industrial robot precision can be solved is related to whether the robot can meet the requirements of the target working conditions. [0003] However, the components that make up the robot will inevitably have certain geometric errors during the manufacturing and assembly process, which makes the kinematics model used by the robot controller inconsistent with the real kinematics model, resulting in the actual position obtained by the robot joint angle drive motor. It will devia...

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Problems solved by technology

[0004] Due to the nonlinear mapping relationship between the geometric error generated by the part manufacturing and assembly process and the error of the robot end position, and the coupling relationship between the robot end position error and the robot attitude, this makes the kinematic calibration of industrial robots very complicated.

In addition, some of the variable factors that generate geometric errors can be compensated in the robot controller, and some cannot be compensated in the controller. Most of the calibration methods in the prior art only consider the calibration of geometric errors that can be compensated. Improving robot accuracy while ignoring handling of uncompensable geometric errors

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