System and method for trajectory accuracy compensation of industrial robots based on kinematics analysis

Abstract

The invention discloses an industrial robot track precision compensation system and method based on kinematics analysis. The robot interconnection interface and the measurement interconnection interface are respectively connected to the robot controller and the measurement bottom layer interface. Both the robot interconnection interface and the measurement interconnection interface are connected to the input terminal of the trajectory deviation calculation module, and the output terminals of the trajectory deviation calculation module are respectively connected to the parameter identification module and The accuracy evaluation module, the output terminal of the parameter identification module is connected to the robot interconnection interface through the compensation control module, and the trajectory control module is connected to the robot interconnection interface; the method establishes the motion trajectory deviation model of the industrial robot, and then uses the robot trajectory data measured by the measuring equipment to carry out Model parameter identification, and finally the identified error data is used for parameter compensation of the robot kinematics model. The invention compensates the motion track deviation of the industrial robot from the perspective of kinematics analysis, improves the motion track accuracy of the robot, has low cost and is easy to implement.

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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