A Compensation Method for Zero Point Error of Driven Joints of Five Degrees of Freedom Hybrid Robot

Abstract

The invention discloses a method for compensating the zero-point error of a five-degree-of-freedom hybrid robot drive joint, which comprises the following steps: (1) establishing a mapping model between the robot zero-point error and the terminal pose error; (2) optimizing the measurement based on the condition number index The number of configurations; (3) Constructing error identification equations; (4) Measuring the terminal pose error of the hybrid robot; (5) Using the biased estimation method to identify the five zero point errors of the robot; (6) Correcting the zero return parameters of the control system Perform zero point error compensation; (7) Detect the terminal pose errors of the robot in different configurations in the workspace after zero point error compensation, if there is a situation where the terminal error is greater than the allowable value, repeat steps (4) to (7) , until the end pose error of the robot is less than the allowable value in all measurement configurations. The method of the invention has short error compensation time and high efficiency, and is suitable for patrol inspection and precision adjustment of robot equipment in industrial production sites.

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

Images