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Robot positioning compensation method and device

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, low adaptability, and slow compensation speed of positioning errors, and achieve fast compensation speed and absolute High positioning accuracy and good generalization performance

Active Publication Date: 2021-10-22
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Robot positioning compensation method and device
  • Robot positioning compensation method and device

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Embodiment Construction

[0030] In order to better understand the present invention, the technical solutions in the embodiments of the present invention will be described in contemplation, and It is an embodiment of the invention, not all of the embodiments. Based on the embodiments in the present invention, those of ordinary skill in the art may belong to the scope of the present invention in the range of the present invention without all other embodiments obtained without making creative labor.

[0031] It should be noted that the specification and claims of the present invention and the terms "first", "second", "second", or the like are used to distinguish a similar object without having to describe a particular order or award order. It should be understood that the data such as use can be interchanged in appropriate, so that the embodiments of the invention described herein can be implemented in the order other than those illustrated or described herein. Moreover, the terms "including" and "have" and ...

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Abstract

The invention discloses a positioning compensation method and device for a robot. Wherein, the method includes: collecting a moving point set when the robot moves in a preset space grid, wherein the space grid refers to a grid divided by a cube with a predetermined step in the working area of ​​the robot; using the moving point set training to obtain Error compensation model, wherein the error compensation model is a model established according to the error compensation parameters between the theoretical position and the actual position of the flange center point of the robot; obtain the actual coordinates of the target position that the robot intends to reach; use the error compensation model to calculate the robot The compensation parameters for moving to the actual coordinates, where the compensation parameters are used to compensate the positioning accuracy of the robot moving to the actual coordinates; based on the compensation parameters, the robot is controlled to reach the target position. The invention solves the technical problems in the related art that the compensation speed of the positioning error of the robot is relatively slow, and the adaptability is low, and the supplementary requirement of the positioning accuracy of the robot cannot be met.

Description

Technical field [0001] The present invention relates to the field of robotic control, and in particular, to a locating compensation method and apparatus of a robot. Background technique [0002] In the relevant technologies, the use of robots in product production, processing and assembly is increasing. Since the industrial robot is used to process assembly, it mainly depends on absolute positioning accuracy. If the absolute positioning accuracy is too low, it will seriously affect the product quality, existing Programs for improving the positioning accuracy of robots include: offline error compensation and online error compensation. Among them, offline error compensation is before using the robot to compensate for robot positioning accuracy, such as mathematical approximation methods and online error compensation, etc., but there are some shortcomings in the positioning accuracy of these compensation robots. Nonlinear models have poor effect, it is difficult to meet the high-pre...

Claims

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Application Information

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Patent Type & Authority Patents(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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