Hybrid robot working accuracy compensation method and system, and storage medium

A technology of precision compensation and compensation method, which is applied in the field of mechanical arms, can solve the problems of AGV shaking, low positioning accuracy, and lowering the operation accuracy of composite robots, so as to achieve the effect of ensuring operation accuracy and eliminating error accumulation

Active Publication Date: 2019-04-09
上海英医达医疗器械用品有限公司
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Problems solved by technology

However, during the implementation process, it was found that at least the following technical problems existed in the prior art: since the positioning accuracy of the AGV is often lower than that of the mechanical arm, and when the mechanical arm is working, the reverse force of the mechanical arm on the AGV will cause the AGV to shake , which further reduces the working accuracy of the composite robot
Therefore, the currently known technologies are all about passively preventing the impact of the vibration of the manipulator arm on the AGV platform, and there is no powerful measure that can actually solve the problem of the working accuracy of the composite robot.

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  • Hybrid robot working accuracy compensation method and system, and storage medium
  • Hybrid robot working accuracy compensation method and system, and storage medium

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Embodiment Construction

[0044] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0045] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced without one or more of the specific...

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Abstract

The invention discloses a hybrid robot working accuracy compensation method and system, and a storage medium. The method comprises two stages of trial operation and formal operation: in the trial operation stage, the method comprises the step of establishing a database, wherein a corresponding relation table between the specific actions executed by the hybrid robot and the compensation value is stored in the database; and in the formal operation stage, the method comprises the steps of acquiring a compensation value corresponding to the specific action from the database when the hybrid robot needs to perform the specific action, and controlling the hybrid robot to move linearly according to the compensation value. The accumulate error of mechanical arms caused by the sliding of an AGV baseof the hybrid robot can be overcome, and the working accuracy of the hybrid robot can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a method, system and storage medium for compensating the working accuracy of a composite robot. Background technique [0002] The robotic arm and AGV (English full name "Automated Guided Vehicle", also known as "Automated Guided Vehicle", hereinafter referred to as AGV) can be combined into a composite robot, which is often used in handling, mobile loading and unloading and other occasions. However, during the implementation process, it was found that at least the following technical problems existed in the prior art: since the positioning accuracy of the AGV is often lower than that of the mechanical arm, and when the mechanical arm is working, the reverse force of the mechanical arm on the AGV will cause the AGV to shake , which further reduces the working accuracy of the composite robot. [0003] The current technology adopted for this situation is to use a lower-spee...

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Application Information

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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/16B25J19/00
Inventor 李韬
Owner 上海英医达医疗器械用品有限公司
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