Series-parallel robot error online compensation system and method based on coarse interpolation

Abstract

The invention discloses a series-parallel robot error online compensation system and method based on coarse interpolation. The system comprises a series-parallel mechanical arm, a first rotating support, a second rotating support, a detection system and a control system. A first driving arm, a second driving arm and a third driving arm are hinged to the peripheral side of a movable platform in theseries-parallel mechanical arm, and a driven supporting arm is fixedly connected to the rear end of the movable platform, the front end of the movable platform is connected with an A / C-axis double-swing-angle head; the second driving arm, the third driving arm and the driven supporting arm are connected with the second rotating bracket through third to fifth rotating shafts; the second rotating bracket is connected with the bearing seat through a sixth rotating shaft; the detection system comprises: a first angle sensor and a second angle sensor for detecting the rotating angles of sixth andfifth rotating shafts; a third angle sensor and a fourth angle sensor which are used for detecting C-axis and A-axis corners; a first displacement sensor which is used for detecting the axial displacement of the driven support arm; and a multi-axis motion controller in the control system which receives feedback signals of the sensors and outputs signals to control work of the corresponding servo motors. The compensation method is simple, and the positioning precision of the hybrid robot can be improved.

Description

technical field [0001] The invention relates to the field of robot processing, in particular to an online error compensation system and method for hybrid robots based on rough interpolation. Background technique [0002] In order to adapt to the large-scale movement of large-scale structural parts and the service environment of local high-speed precision machining, the large-scale structural parts have the characteristics of large dimensions, complex geometric shapes, and high precision requirements. The single-machine manufacturing of the core functional components is based on hybrid configuration equipment. Cellular or multi-machine manufacturing systems are becoming indispensable and important tools. However, due to the load of the end effector and the gravity of the mechanical arm, the hybrid robot will deform to a certain extent during use, which will cause the position of the end of the robot to shift, and the actual size and theoretical size of the robot parts during ...

AI Technical Summary

Problems solved by technology

There are two main types of error compensation technologies: one is offline compensation, which improves the accuracy by calibrating or establishing an error compensation mapping model before the robot is used. This method is complicated and cumbersome and cannot be changed when used on site; Detect errors during use and compensate for errors in real time

The current online compensation method has a large amount of monitoring data and a large amount of calculation, which occupies the storage capacity and operating speed of the computer, and the operating speed of the equipment is correspondingly affected.

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