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Method and device for determining robot trajectory accuracy, industrial robot

A determination method and robot technology, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of easy error in trajectory accuracy calculation, and achieve the effect of easy error and accurate trajectory accuracy

Active Publication Date: 2021-06-29
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present invention provides a method and device for determining the trajectory accuracy of a robot, and an industrial robot to at least solve the technical problem in the related art that errors are prone to occur in the calculation of the trajectory accuracy of the robot during the dynamic operation process

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  • Method and device for determining robot trajectory accuracy, industrial robot
  • Method and device for determining robot trajectory accuracy, industrial robot
  • Method and device for determining robot trajectory accuracy, industrial robot

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Embodiment Construction

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0034]It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate c...

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Abstract

The invention discloses a method and device for determining the trajectory accuracy of a robot, and an industrial robot. Wherein, the method includes: constructing a flexible robot model and a rigid robot model, wherein the flexible robot model corresponds to the flexible value of each joint of the target robot, and the rigid robot model corresponds to the rigidity parameters of each part of the target robot; using the flexible robot model and The rigid robot model controls the target robot to run along the pre-determined target trajectory to obtain two running lines; calculate the deviation section between the two running lines to determine the trajectory accuracy of the target robot. The invention solves the technical problem in the related art that errors are prone to occur in the calculation of the trajectory accuracy of the robot during the dynamic operation process.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for determining the trajectory accuracy of a robot, and an industrial robot. Background technique [0002] In the related art, the transmission structure of most industrial robots is the transmission structure of motor, gear (or synchronous belt) and speed reducer. During the process, the acceleration and deceleration, the weight of the connecting rod and the change of the load will deform the joints of the robot, which will affect the accuracy of the robot, especially the trajectory accuracy. At present, when calculating the trajectory accuracy of the robot, most of them are obtained based on the preset kinematics model. This method is effective for calculating the positioning accuracy of the robot at a specified position, but it is not suitable for the robot during dynamic operation. The trajectory accuracy error caused by joint elastic deformation ca...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 余杰先冯晶晶文辉张天翼杨裕才钟文涛张志波王林冰黄侠冯仕伟李明胡思源张文欣谢黎
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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