Positioning error compensation method for robot straight line shaft based on data driving

A compensation method and positioning error technology, applied in the direction of instruments, simulators, computer control, etc., can solve the problems of huge impact on accuracy, large linear axis errors, and difficulty in obtaining compensation effects, and achieve high-precision work, less time, less time. The effect of calculation

Active Publication Date: 2018-12-21
TSINGHUA UNIV
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Problems solved by technology

However, when there are many motion axes and geometric error items, it is difficult for the existing geometric error calibration and compensation methods to achieve a good compensation effect.
However, due to the large error of the linear axis, it has a great impact on the accuracy. Therefor...

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  • Positioning error compensation method for robot straight line shaft based on data driving
  • Positioning error compensation method for robot straight line shaft based on data driving
  • Positioning error compensation method for robot straight line shaft based on data driving

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Embodiment Construction

[0032] The present invention proposes a data-driven linear axis positioning error compensation method for a robot. The present invention will be further described in detail below in conjunction with specific embodiments.

[0033] The present invention proposes a data-driven method for compensating the positioning error of a linear axis of a robot. The method includes the following steps:

[0034] (1) Fix a target ball base at the end of the linear axis of the robot to be error compensated, and place the target ball on the target ball base; set N (N greater than 20) marker points in the robot space (the marker points are located on the robot In the working space, it should be evenly distributed as far as possible, and it is enough not to appear that some places are too few or too dense. In this embodiment, 30 mark points are selected), and the robot is controlled to move the target ball on the target ball base at the end of the linear axis to every position of each marker point...

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Abstract

The invention provides a positioning error compensation method for a robot straight line shaft based on data driving, and belongs to the technical field of robot automatic assembly. According to the positioning error compensation method, a target ball is placed at the tail end of the robot straight line shaft, a plurality of mark points are arranged in a robot space, the robot is controlled to move the target ball to each mark point, and the nominal positions of all the mark points under a robot coordinate system are obtained to serve as input values of a training set; the actual positions ofall the mark points are measured, and difference values are obtained by comparing the nominal positions and the actual positions of all the mark points to serve as the spatial positioning errors of the mark points and serve as output values of the training set; a Gaussian process regression model is used for training, and a Gaussian error model after training is obtained; and the Gaussian error model is used for compensating the spatial positioning errors of a robot, and the compensated kinematic errors of the robot are obtained. According to the positioning error compensation method, the measuring process is simple and convenient, high-precision measuring results can be obtained, and therefore high-precision real-time online compensation for kinematic errors of an automatic hole making system is achieved.

Description

technical field [0001] The invention proposes a data-driven linear axis positioning error compensation method of a robot, which belongs to the technical field of automatic assembly of robots. Background technique [0002] With the development of science and technology, robots have penetrated into all aspects of human life, especially in high-intensity and repetitive tasks that replace humans as labor. The structure of the robot system is complex. Robots in industrial production have more than 6 degrees of freedom, and the stroke of the linear axis is large. The complex and changeable working environment will lead to changes in its error characteristics, and introduce large errors to the motion of the linear axis. For this reason, it is necessary to calibrate and real-time online compensation for the error of the linear axis of the robot. The structure of the linear axis of the automatic hole making system is similar to that of the machine tool, and its motion error calibrat...

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Application Information

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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/35408
Inventor 徐静陈恳包佳立万安吴丹宋立滨
Owner TSINGHUA UNIV
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