System and method for compensation of track precision of industrial robot based on kinematics analysis

Abstract

The invention discloses a system and method for compensation of track precision of an industrial robot based on kinematics analysis. A robot interconnection interface and a measurement interconnectioninterface are in communication connection with a robot controller and a measurement lower-layer interface respectively; the robot interconnection interface and the measurement interconnection interface are connected to an input end of a track bias computation module; output ends of the track bias computation module are connected to a parameter identification module and a precision evaluation module respectively; an output end of the parameter identification module is connected to the robot interconnection interface via a compensation control module; and a track control module is connected tothe robot interconnection interface. According to the method, a motion track bias model of the industrial robot is established; then, model parameter identification is carried out according to robot track data measured by measurement equipment; and finally, error data identified is used in a robot kinematic model for parameter compensation. The system and method disclosed by the invention have thebeneficial effects that a motion track bias of the industrial robot is compensated from the perspective of kinematics analysis; the motion track precision of the robot is increased; cost is low; andimplementation is easy.

Description

technical field [0001] The present invention relates to a motion control system and method in the field of robot technology, in particular to an industrial robot trajectory accuracy compensation system and method based on kinematics analysis, which improves the motion trajectory accuracy by compensating the parameter error of the kinematics model . Background technique [0002] The trajectory accuracy of industrial robots is an important technical index for evaluating the performance of robots. At present, robots in industrial applications generally have high repeatability positioning accuracy, but with the improvement of industrial production automation and precision manufacturing precision requirements, in addition to requiring robots to have high positioning accuracy, there are also requirements for the accuracy of their motion trajectory. Higher and higher, such as in applications such as precision laser cutting, precision laser welding and advanced manufacturing and eq...

AI Technical Summary

Problems solved by technology

At present, most of the methods and technical research on the improvement of robot precision at home and abroad are realized by the calibration method based on spatial position points. There are relatively few systems and methods for improving the accuracy of specific motion trajectories, and it is difficult to meet the needs of industrial robots in the field of precision manufacturing and assembly. The demand for high motion trajectory accuracy in the application

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