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Positioning compensation method and device for robot

A compensation method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to meet the supplementary requirements of robot positioning accuracy, slow positioning error compensation, and low adaptability, and achieve fast compensation. High positioning accuracy and good generalization performance

Active Publication Date: 2020-08-28
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
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Problems solved by technology

[0004] The embodiment of the present invention provides a robot positioning compensation method and device, to at least solve the technical problems in the related art that the robot positioning error compensation speed is slow, and the adaptability is low, and the positioning accuracy of the robot cannot be supplemented.

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  • Positioning compensation method and device for robot
  • Positioning compensation method and device for robot
  • Positioning compensation method and device for robot

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Embodiment Construction

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention discloses a positioning compensation method and device for a robot. The method comprises the following steps of acquiring a moving point set of the robot moving in a preset space lattice, wherein the space lattice is a lattice divided by a cube of a preset step size in a working area of the robot; carrying out moving point set training to obtain an error compensation model, wherein the error compensation model is a model established according to an error compensation parameter between a theoretical position of a flange center point and an actual position of the robot; acquiring actual coordinates of a target position to be arrived by the robot; calculating a compensation parameter of the robot moving to the actual coordinates by means of the error compensation parameter, wherein the compensation parameter is used for compensating a positioning precision of the robot moving to the actual coordinates; and controlling the robot to arrive in the target position based on the compensation parameter. The positioning compensation method solves the technical problem that the positioning precision compensation demand of the robot cannot be met as robot is relatively low in positioning error compensation speed and low in adaptability in the prior art.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for positioning compensation of a robot. Background technique [0002] In related technologies, robots are more and more widely used in product manufacturing, processing and assembly. Since the use of industrial robots for processing and assembly mainly depends on absolute positioning accuracy, if the absolute positioning accuracy is too low, it will seriously affect product quality. Existing The schemes to improve the positioning accuracy of the robot include: offline error compensation and online error compensation. Among them, offline error compensation is to compensate the positioning accuracy of the robot through certain methods before using the robot to work, such as mathematical approximation method and online error compensation, etc., but these methods of compensating the positioning accuracy of the robot have some shortcomings, and the mathemati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B25J9/1692
Inventor 郭东生钟文涛高小云张志波万文洁周家裕张睿王佳威衷镇宇
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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