Compensation method for driving joint zero point errors of five-degree-freedom hybrid robot

Abstract

The invention discloses a compensation method for driving joint zero point errors of a five-degree-freedom hybrid robot. The compensation method comprises the following steps that (1) a mapping modelbetween robot zero point errors and tail end pose errors is built; (2) the number of configurations is optimized and measured based on condition number indexes; (3) an error identification equation set is constructed; (4) the tail end pose errors of the hybrid robot are measured; (5) the five zero point errors of the robot are identified by adopting a biased estimation method; (6) zero return parameters of a control system are revised to carry out zero point error compensation; (7) the tail end pose errors of the robot under different configurations in working space after zero point error compensation are detected, if the situation that the tail end pose error is greater than an allowable value exists, step (4) to step (7) are repeated until the tail end pose errors of the robot under allmeasurement configurations are all less than the allowable value. The compensation method for the driving joint zero point errors of the five-degree-freedom hybrid robot has the advantages that the time of error compensation is short, the efficiency is high, and the method is suitable for robot equipment inspection and precision adjustment of the industrial production site.

Description

technical field [0001] The invention belongs to the field of industrial robots, and relates to an error compensation technology for industrial robot equipment, in particular to a fast compensation technology for a zero-point error of a driving joint of a five-degree-of-freedom hybrid processing robot. Background technique [0002] Hybrid processing equipment, especially a type of hybrid robot with a "positional parallel mechanism + serial rotor" configuration, has rigidity and precision performance similar to traditional machine tools, and combines the working characteristics of serial robots and parallel robots. On-site manufacturing With the characteristics of high speed, high precision, high dynamic characteristics, efficient processing and large-scale movement, it has broad application prospects in the field of processing and manufacturing in large-scale unstructured environments. Five-degree-of-freedom hybrid robots such as Tricept and Exechon have been initially applie...

AI Technical Summary

Problems solved by technology

Due to the complex structure of the hybrid robot, the large number of error sources, and the strong coupling between different error sources of the parallel mechanism, it is difficult to model the error; the large number of measurement poses leads to low efficiency; the large number of parameters to be identified leads to a complex identification model, The identification matrix has poor robustness; the identification result is greatly affected by the measurement noise, and the identification is inaccurate, resulting in unsatisfactory compensation effect

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