Robot precision compensation method based on parameter dimension reduction identification

An accuracy compensation and robot technology, applied in the field of robot calibration, can solve the problem that the control system is not open to the outside world and cannot compensate for the D-H parameter error, etc., and achieves the effect of improving absolute positioning accuracy, reducing position error, and reducing the amount of identification calculation.

Pending Publication Date: 2020-03-31
GUANGXI UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to propose a robot precision compensation method based on parameter dimension reduction identification for the problem that the control systems of most robots are not open to the outside world, or the robots need to meet the Pieper criterion and cannot compensate all D-H parameter errors

Method used

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  • Robot precision compensation method based on parameter dimension reduction identification
  • Robot precision compensation method based on parameter dimension reduction identification
  • Robot precision compensation method based on parameter dimension reduction identification

Examples

Experimental program
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Embodiment

[0023] Embodiment: According to the structural parameters of the robot and the establishment principle of the homogeneous transformation matrix, the kinematic relationship between two adjacent rods of the Kawasaki RS010NA six-degree-of-freedom industrial robot is established. The kinematic relationship between two adjacent bars is:

[0024]

[0025] In formula (1), s and c are simplified forms of sin and cos respectively, θ i is the joint rotation angle, a i is the joint torsion angle, d i is the joint offset, β i is the rotation angle around the y-axis.

[0026] For a six-degree-of-freedom industrial robot, the error in each joint coordinate system is transferred to the end of the robot, and the homogeneous transformation matrix at the end of the robot is obtained as:

[0027]

[0028] In formula (2) represents the homogeneous transformation of the link from the base coordinates to the ends, arrive represents the link homogeneous transformation of adjacent lin...

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Abstract

The invention discloses a robot precision compensation method based on parameter dimension reduction identification, and belongs to the technical field of robot calibration. The invention provides a robot precision compensation method based on parameter dimension reduction identification in order to solve the problems that control systems of most robots are not opened to the outside at present, orthe robots need to meet the Pieper criterion and cannot compensate all D-H parameter errors. According to the method, based on a parameter dimension reduction identification algorithm, a parameter error capable of directly compensating a D-H configuration parameter of the robot is obtained, and the D-H configuration parameter of the robot is directly compensated through the parameter error. According to the method, an additional compensation algorithm is not needed, the robot tail end position error can be reduced, and the problem that the inverse kinematics solving complexity of the robot isimproved cannot be caused. The method can effectively reduce the identification calculation amount, improves the absolute positioning precision of the tail end of the robot, and can be widely appliedto working conditions with higher requirements for the precision of the robot.

Description

technical field [0001] The invention belongs to the technical field of robot calibration, in particular to a robot precision compensation method based on parameter dimension reduction identification. Background technique [0002] As a modern automatic device, a robot is an intelligent automatic robot device that integrates electronics, computers, machinery, artificial intelligence and control. In recent years, people have higher and higher requirements for robots to have good repeat positioning accuracy and high absolute positioning accuracy, especially in the field of aerospace manufacturing. In the off-line programming of robots, since the position coordinates of the target point are It is specified in the virtual environment, so it has high requirements for absolute positioning accuracy, and robots are used in measurement in some industrial applications, and the accuracy of the robot directly affects the accuracy of the measurement system. For this reason, many researche...

Claims

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Application Information

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IPC IPC(8): G01C25/00G06F17/10
CPCG01C25/00G06F17/10
Inventor 潘海鸿杨竑宇刘吉刚陈琳梁旭斌蒲明辉
Owner GUANGXI UNIV
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