Unlock instant, AI-driven research and patent intelligence for your innovation.

A Multiple Regression-Based Geometric Error Compensation Method for Robot Joints

A technology of robot joints and geometric errors, which is applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools, etc., can solve the problems of end pose error, low end effector pose accuracy, complicated process, etc., and achieve the effect of improving geometric accuracy.

Active Publication Date: 2022-07-08
TIANJIN UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are two limitations in this processing method: first, it is necessary to establish an error model that considers all joint structure errors and meets the requirements of completeness, continuity and minimum, and the process is very complicated; The end pose error caused by the error source (such as the straightness error of the moving pair) leads to the low pose accuracy of the end effector

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Multiple Regression-Based Geometric Error Compensation Method for Robot Joints
  • A Multiple Regression-Based Geometric Error Compensation Method for Robot Joints
  • A Multiple Regression-Based Geometric Error Compensation Method for Robot Joints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0053] In order to further understand the content of the invention, features and effects of the present invention, the following embodiments are exemplified and described in detail with the accompanying drawings as follows:

[0054] A method for compensating geometric errors of robot joints based on multiple regression, comprising the following steps:

[0055] Step 1. Construction of drive joint error compensation function

[0056] A multivariate linear function of ideal joint variables is used to construct the error compensation function of the drive joint.

[0057] Under the premise that the joint motion error is sufficiently small relative to its nominal value, the end pose error screw ξ of the f (f≤6) degree of freedom robot Expressed as:

[0058]

[0059] In the formula, represents the motion error Jacobian, which is the nominal actuated joint variable q 1 ,q 2 ,…,q f The function of , which can be obtained by analyzing the instantaneous motion of the robot sys...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for compensating geometric errors of robot joints based on multivariate regression: a multivariate linear function of ideal joint variables is used to construct a driving joint error compensation function; The coefficient of the drive joint error compensation function is determined by the significance test; the drive joint error compensation function is used to correct the ideal command of the drive joint to realize the compensation of the robot end pose error. The invention directly predicts the influence of the joint geometric error source on the end pose error by the linear mapping of a simple multivariate linear function, can compensate the end pose error caused by the error source that changes with the configuration, and is further beneficial to improve the robot end effector. geometric accuracy.

Description

technical field [0001] The invention relates to an error compensation technology of a robot, in particular to a robot error compensation method based on joint space multivariate regression. Background technique [0002] Geometric accuracy is an important performance index of a robot system, which is mainly affected by the robot joint motion error and structural error, that is, the source of joint geometric error. On the premise that the repeatability accuracy of the robot is ensured by means of manufacturing and assembly, kinematics calibration is an important means to improve the geometric accuracy of the robot. The steps of motion calibration include error modeling, error measurement, parameter identification and error compensation, which are closely connected with each other. Among them, using reliable parameter identification results to accurately predict the pose error of the terminal in any configuration is the key issue of kinematics calibration. [0003] In the tra...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1679B25J9/1661B25J17/02
Inventor 黄田尹福文田文杰刘海涛肖聚亮
Owner TIANJIN UNIV