Multi-task mechanical arm posture detecting and error compensating method

Abstract

The invention discloses a multi-task mechanical arm posture detecting and error compensating method, and belongs to the technical field of industrial robots. A device used in the method comprises double cameras, a six-joint mechanical arm, an upper computer and a mechanical arm control cabinet. The two cameras are arranged on the two sides of the mechanical arm correspondingly and used for collecting and transmitting image information of the mechanical arm to the upper computer so that posture information of the mechanical arm can be obtained. The six-joint mechanical arm is used for finishing welding, component assembling and goods carrying work. The upper computer is used for conducting image calibrating and processing, task mode selecting and data calculating. The mechanical arm control cabinet is used for receiving instructions of the upper computer and achieving control over the mechanical arm. According to the optimization function minimum principle, the each-step newly-added error compensation amount is calculated, accordingly, the new error compensation amount is obtained, and next movement of the mechanical arm is controlled.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a multi-task manipulator pose detection and error compensation method. Background technique [0002] In recent years, robotic arms have been widely used in tasks such as welding, parts assembly, and cargo handling due to their flexible operation and convenient control. Since the connecting rods of the manipulator inevitably introduce parameter errors in the process of manufacturing and assembling, there is a difference between the actual value and the nominal value of the parameters of each link of the manipulator, which leads to the actual arrival of the end of the manipulator. There is a certain deviation between the pose and the desired pose. [0003] In order to realize the precise motion control of the manipulator, it is necessary to compensate the pose error. The current motion control scheme mainly has the following problems: [0004] (1) The Chinese patent do...

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Problems solved by technology

Due to the difference between the actual value and the nominal value of each rod parameter, the pose acquisition is not accurate enough;

[0006] (3) The Chinese patent document with the publication number CN106247932A discloses a robot online error compensation device and method based on a photography system. The method uses multiple sets of cameras and a two-dimensional inclination measuring instrument. Clear pose error compensation algorithm;

[0007] (4) The above patents do not take into account the differences in pose compensation requirements for different tasks, and their design is only for a certain task (such as welding, parts assembly and cargo handling)

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