Compensation method and device for robot structure error

Abstract

An embodiment of the invention provides a robot structure error compensation method and device which are applied to a robot comprising at least one joint. The method includes the steps: taking a builtinitial harmony memory as a current harmony memory and initializing HMCR (harmony memory considering rate), PAR (pitch adjusting rate) and BW (bandwidth); selecting a first target harmony from a preset / current harmony memory according to the relationship between a first random number and the HMCR; processing the first target harmony based on the BW according to the relationship between a second random number and the PAR; updating the current harmony memory according to the relationship among target function values of the processed harmony and harmonies of the current harmony memory; updatingthe PAR and the BW according to preset rules and returning to select the first target harmony if the updated harmony memory cannot meet preset conditions; replacing original joint variable values of joints by candidate joint variable values of the joints corresponding to the harmony with the minimum target function value in the updated harmony memory. When the robot is in any structures, structureerrors of the robot can be compensated.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a compensation method and device for robot structure errors. Background technique [0002] With the development of science and technology, robots have been widely and deeply used in manufacturing, logistics, medical and other fields. Generally, the overall precision of a robot during motion or work can be characterized by the work precision of the robot end effector. There are many error sources that affect the operation accuracy of the robot end effector, such as: the structural error of the robot itself, force deformation, thermal deformation, etc. In order to reduce the positioning error of the robot's end effector and improve the trajectory accuracy during the robot's operation, it is usually necessary to calibrate the robot. The calibration process generally includes: modeling, measurement, identification and compensation. Wherein, the compensation step specifically includ...

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Problems solved by technology

[0004] However, the inventors found in the process of realizing the present invention that there are at least the following problems in the prior art: the indirect method is only suitable for compensating the mechanical arm in a non-singular configuration

When the manipulator is in a singular configuration, the determinant value of the Jacobian matrix of the robot is close to zero, that is, the degeneration of the Jacobian matrix will directly lead to a jump in the actual compensation result (that is, the actual position of the manipulator)

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