Part position error compensation method and system applied to field of robot spraying

Abstract

The invention provides a part position error compensation method applied to the field of robot spraying. The method comprises the following steps that the position of a feature point is measured through a laser tracing instrument so as to obtain a position error value of a robot in a real environment; position error compensation is established under a base coordinate system by using an error calculation formula so as to obtain accurate feature point position information; the position error is transmitted to a robot joint angle by using inverse kinematics calculation, and a mapping model is established from a tail end TCP (tool center point) to each joint angle; error compensation of the tail end position is realized according to the mapping model, and the process is repeated by using iterative computation based on a spectral radius condition method; in an offline programming environment, a spatial transformation matrix of the feature point and a part pose is established; and a sprayingrobot path is planned according to the obtained geometric model information of the part, and an accurate spraying track is generated according to the obtained path point position and pose information. The invention further provides a part position error compensation system applied to the field of robot spraying.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a method and system for workpiece positioning and error measurement in robot painting application based on sensor position feedback. Background technique [0002] During the spraying process of industrial robots, the real and virtual working environment is composed of robots, parts, workbenches, and robot simulation software. Among them, the operator establishes a virtual workshop in the simulation software, uses it as a digital modeling in the real workshop, analyzes the appearance of the geometric model of the part in the virtual environment, plans the spraying trajectory of the industrial robot according to the spraying parameter requirements, and after the simulation runs Download the robot programming language to the real robot controller to complete the painting job. [0003] In traditional industrial robot spraying operations, the more advanced robot spraying tasks based on off-line...

AI Technical Summary

Problems solved by technology

The off-line programming method needs to perform trajectory planning and virtual-reality conversion according to the three-dimensional geometric model of the surface topography of the part. The conversion process usually results in the generation of positions and differences due to the fact that the placement of parts in the virtual and real environments is not absolutely the same. error in attitude

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