Robot tail end multi-target position and pose approach method based on joint angle compensation

A robot and joint angle technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of geometric parameter error compensation, absolute pose error, etc.

Active Publication Date: 2020-07-14
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for approaching the multi-target position and posture of the robot end based on joint angle compensation, which uses the joint angle compensation value instead of compensating geometric parameter errors to control the robot motion, and solves the problem that the robot control system is closed or semi-closed. The user cannot directly compensate the geometric parameter error obtained by identification. At the same time, the objective function built is n

Method used

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  • Robot tail end multi-target position and pose approach method based on joint angle compensation
  • Robot tail end multi-target position and pose approach method based on joint angle compensation
  • Robot tail end multi-target position and pose approach method based on joint angle compensation

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specific Embodiment 1

[0106] combine image 3 , the present invention refers to a multi-target pose approaching method based on joint angle compensation at the end of the robot, the method comprising:

[0107] After determining the target value of each group of joint angles according to the nominal value of the robot's geometric parameters, and controlling the movement of each joint of the robot to the target value of each group of joint angles, according to the collected robot end position and attitude data measurement values, the robot geometric parameters The error is identified, and the identified geometric parameter error of the robot is converted into the correction value of each joint angle of the robot. Combined with the correction value of the joint angle obtained through conversion, the compensation of the joint angle used to control the robot to perform the multi-target pose approximation action is calculated. value.

[0108] Preferably, the geometric parameter error of the robot refers ...

specific Embodiment 2

[0112] See figure 1 and figure 2 , figure 1 is a schematic diagram of the serial robot structure, figure 2 is the schematic diagram of the robot DH geometric parameter model. The robot includes a robot base, a first joint, a second joint, ..., an Mth joint and a robot end connected in series in sequence, two adjacent connecting rods are connected through the joint, and the robot base is connected in series with the first joint. connected, the Mth joint is connected in series with the end of the robot.

[0113] Based on the aforementioned robot structure, see image 3 , in this embodiment, the multi-target pose approximation method for the end of the robot based on joint angle compensation specifically includes the following steps:

[0114] Step 1. Establish base coordinate system oxyz and joint coordinate system o i x i the y i z i The following robot DH geometric parameter model, the geometric parameters of the DH geometric parameter model include connecting rod o...

specific Embodiment 3

[0189] Below in conjunction with accompanying drawing, the present invention is described further, as an embodiment of the present invention, what use is Staubli-TX60 six degrees of freedom serial industrial robot, concrete steps are as follows:

[0190] 1. Establish the base coordinate system oxyz and the joint coordinate system o for the Staubli-TX60 six-degree-of-freedom serial robot i x i the y i z i Find and obtain the nominal value of the robot's DH geometric parameter from the robot manual As shown in Table 1, i=1, 2, . . . , M, where M=6.

[0191] Table 1 Nominal values ​​of DH geometric parameters of Staubli-TX60 robot

[0192]

[0193] 2. In order to confirm the correctness of the method of the present invention, the target value p of the 30 target point position coordinates at the end of the Staubli-TX60 robot oj Coordinate component p along the x-axis, y-axis, and z-axis in the base coordinate system oxyz oxj ,p oyj ,p ozj and the target value r of the ...

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Abstract

The invention discloses a robot tail end multi-target position and pose approach method based on joint angle compensation. The method comprises the steps that when target values of all joint angles are determined according to nominal values of geometric parameters of a robot, and all joints of the robot are controlled to move to the target values of all the joint angles, geometric parameter errorsof the robot are identified according to the acquired measured data values of robot tail end position and pose, the identified geometric parameter errors of the robot are converted into correction values of all the joint angles of the robot, and the correction values, of the joint angles, obtained through conversion are combined to calculate to obtain compensation values, of the joint angles, forcontrolling the robot to execute the multi-target position and pose approach action. According to the method, the compensation values of the joint angles can be used for replacing the compensation ofthe geometric parameter errors to control the robot to move, so that the problem that a robot control system is closed or semi-closed, and a user cannot directly compensate the geometric parameter errors obtained through identification is solved, and the precision and efficiency of the robot tail end absolute position and pose are effectively improved.

Description

technical field [0001] The invention relates to the technical fields of precision measurement and computer application, in particular to a method for approaching multi-target poses at the end of a robot based on joint angle compensation. Background technique [0002] Due to the advantages of fast operation speed, high work efficiency, modular structure design, flexible control system, and high repeatability, robots are playing an increasingly important role in modern life. Today, there are more and more occasions where robots are used to achieve multi-target pose approximation in high-end manufacturing fields such as flexible manufacturing, auxiliary measurement, medical surgery, and aerospace. Its attitude accuracy also puts forward high requirements to realize the high-precision approximation of the robot end to the multi-target pose. The application of robots in the field of high-end manufacturing has also attracted the attention of research institutions at home and abro...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1628B25J9/1664
Inventor 赵艺兵温秀兰乔贵方吕仲艳崔伟祥姚波
Owner NANJING INST OF TECH
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