Industrial robot online pose error compensating method capable of reducing contour errors
An industrial robot and error compensation technology, which is applied in the field of pose error compensation at the end of the robot, can solve problems such as reducing the accuracy of the robot, and achieve the effect of reducing the contour error
Active Publication Date: 2020-08-18
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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At the same time, dynamic errors caused by various nonlinear factors exist in the movement process of the robot, which reduces the accuracy of the robot.
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[0037] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are for the purpose of illustrating the present invention, but are not intended to limit the scope of the present invention.
[0038] Such as figure 1 As shown, the calculation method of the contour error is illustrated. P i is the actual position, P e is the expected position, Δp is the position error, Δc is the contour error, V e for the desired position at P e The desired velocity at , the contour error Δc is the normal distance from the actual position to the reference trajectory. Accurate calculation of the contour error Δc requires a large amount of calculation and is not suitable for real-time calculation; in the present invention, the approximate value of the contour error Δc_h is used to represent the contour error, and Δc_h is the actual position to V e normal distance...
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The invention relates to an industrial robot online pose error compensating method capable of reducing contour errors. The industrial robot online pose error compensating method capable of reducing contour errors comprises the following steps: adopting a laser tracker as a measuring apparatus, and fixing T-Mac at the tail end of a robot; transmitting, by the laser tracker, robot tail end pose to PC for the laser tracker in real time by calibrating; simultaneously receiving robot tail end pose information from the PC for laser tracker control and a robot driver by the robot controller, and comparing to obtain position tracking errors; determining a transformation matrix from the position errors to the contour errors by tail end moving speed planned in Cartesian space to calculate contour errors; and converting the contour errors of the Cartesian space into joint angle errors of joint space through a Jacobian matrix; and adding the converted joint angle errors to each joint position driver to realize coupling control of axles.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a pose error compensation method at the end of a robot, which is used to improve the contour error of the robot during processing. Background technique [0002] In welding, milling and other operations using the robotic arm, the robotic arm is required to move along a predetermined reference trajectory to complete the expected task. This type of motion is called multi-axis contouring motion. In multi-axis contour motion, the contour error (the normal distance from the point on the actual trajectory to the reference trajectory) is a more important performance indicator than the position tracking error (the distance between the actual position and the reference position at the sampling moment). At present, for the motion control of industrial robots, the control of each axis is independent of each other, and the error of each axis is only adjusted by itself, and there is no correspond...
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IPC IPC(8): B25J9/16
CPCB25J9/1692B25J9/1664B25J9/1653
Inventor 孔繁旭姜勇王洪光
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI