Dynamic error compensation and control method of cutting machining robot

Abstract

The invention discloses a dynamic error compensation and control method of a cutting machining robot, belongs to the technical field of robots, and aiming at solving the problem that the dynamic erroraffects the cutting machining precision of the robot. The method comprises that when a dynamic error is a stable deformation error, error compensation and control are carried out based on an offlinecompensation module and an online correction module; when the dynamic error is a low-frequency vibration error, an open-loop control method based on modal analysis is adopted, the exciting force causing a low-order modal is counteracted by applying additional main force to the joints of the robot, vibration is inhibited, and error compensation and control are achieved; and when the dynamic error is a high-frequency vibration error, a robot dynamics control algorithm is provided, an acceleration sensor is additionally arranged in the robot, vibration signals in the machining process of the robot are collected in real time through the acceleration sensor, online real-time correction is conducted on control parameters through the robot dynamics control algorithm, and suppression of high-frequency vibration and high-precision track control are achieved.

Description

technical field [0001] The invention relates to the technical field of robot processing, in particular to a dynamic error compensation and control method of a cutting robot. Background technique [0002] The progress and application of industrial robot technology is an important means and key link to promote the development of intelligent manufacturing in my country. Industrial robots have high flexibility, low cost, large working space, and flexible position and posture control. When they are applied to cutting processing, they can adapt to the modern production mode requirements of multi-variety, small batch, and on-site processing, significantly reduce production costs, and improve equipment and processing space. The utilization rate can effectively improve the speed of technological innovation and the competitiveness of enterprises. However, industrial robots have problems such as low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and control...

AI Technical Summary

Problems solved by technology

However, due to the problems of low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and control in industrial robots, the application of robots in the field of cutting processing is greatly limited.

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