Robot precision compensation method based on approximate degree weighted average interpolation algorithm

Abstract

The invention discloses a robot precision compensation method based on approximate degree weighted average interpolation algorithm. The method comprises the following steps of, aiming at any target point, selecting sample points within the neighborhood of the target point in a sample database, and carrying out further selection on the basis of a judgment rule of similarity as well as using conditions of similar and close vector interpolation algorithm; and then determining influence weighted value of all the sample points on the target point according to a similarity index between the vectorswhen it is judged that the pose vector of the target point and pose vectors of a plurality of sample points within the neighborhood of the target point share sufficient similarity on the basis of thejudgment rule of similarity as well as the using conditions of similar and close vector interpolation algorithm; and adopting approximate degree weighted average interpolation algorithm for carrying out interpolation prediction on pose errors of the target point. According to the robot precision compensation method based on approximate degree weighted average interpolation algorithm, absolute positioning precision of a robot can be significantly improved, and the defect that high precision compensation of same effects in a whole working space cannot be realized through a traditional calibration method is effectively overcome, and therefore the robot precision compensation method is applicable to non-geometric error compensation of the robot, and can be effectively applied to the field where high precision is required for the robot.

Description

technical field [0001] The invention belongs to the technical field of robot-free kinematic model calibration, in particular to a robot precision compensation method based on a weighted average interpolation method of approximation. Background technique [0002] The positioning accuracy of the robot is an important index to measure the performance of the robot. There are many factors affecting the pose error of the robot, mainly including the robot system error caused by the actual and theoretical deviation of the geometric parameters of the connecting rod during the assembly process, as well as the temperature change of the working environment, the motion error of the kinematic pair and the elastic deformation error of the components. Random errors caused by etc. The repeated positioning accuracy of industrial robots is high (only related to random errors, generally below 0.1mm, up to 0.01mm), while the absolute positioning accuracy is poor (related to system errors, only ...

AI Technical Summary

Problems solved by technology

[0006] 2) The vector similarity index only considers the relationship between the distance between vectors and the similarity between vectors, but does not consider the angle between two vectors and the influence of the triangular area formed by them on the similarity between vectors, so The determination of the influence weight of each sample point on the target point is not accurate enough, so the accuracy that can be improved is limited;

[0007] 3) In this method, the compensation of the absolute positioning accuracy of the robot under different attitudes cannot be realized, and the work in error measurement is relatively large

Images