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Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method

An error detection and compensation system technology, applied in radio wave measurement systems, instruments, manipulators, etc., can solve problems such as inaccurate pose errors, achieve the effects of improving machining accuracy, optimizing real-time performance, and improving the level of intelligence

Active Publication Date: 2020-10-09
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the error between the actual parameter value of the series joint axis and the theoretical value, the obtained pose error is not accurate enough

Method used

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  • Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method
  • Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method

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Embodiment Construction

[0020] In order to further understand the invention content, characteristics and effects of the present invention, the following embodiments are enumerated hereby, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0021] See Figure 1 to Figure 2 , a five-degree-of-freedom hybrid robot terminal pose error detection and compensation system, including a hybrid robot body 7 and a friction stir welding stirring head installed at the end of the hybrid robot body 7, the hybrid robot body 7 includes over-constrained three degrees of freedom The parallel mechanism and the A / C axis double swing angle head, wherein the parallel mechanism includes a moving platform and the first to third main arms that are hinged with the moving platform and move in the axial direction; the C axis of the double swing angle head rotates with the moving platform Connection; the A-axis of the double-swing angle head is fixedly connected to the bearing seat of the stir...

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Abstract

The invention discloses a five-degree-of-freedom hybrid robot tail end pose error detection and compensation system. The five-degree-of-freedom hybrid robot tail end pose error detection and compensation system comprises a hybrid robot body and a friction stir welding stirring head installed at the tail end of the hybrid robot body, wherein the hybrid robot body comprises an over-constrained three-degree-of-freedom parallel mechanism and an A / C axis double-pendulum angle head and further comprises a visual positioning system and a laser range finder; the visual positioning system is used for measuring three-dimensional coordinate values of the tail end of a main shaft of the stirring head and comprises at least one set of binocular cameras; the laser range finder is used for collecting thedistance between the transmitting end of the laser range finder and the surface of a workpiece; an annular rotating disc is arranged on a shaft shoulder of the main shaft of the stirring head; the annular rotating disc is driven by a driving device to rotate around the axis of the main shaft of the stirring head at a constant speed; and the laser range finder is fixed to the annular rotating disc. The invention further discloses a five-degree-of-freedom hybrid robot tail end pose error detection and compensation method which can be suitable for accurate dynamic error detection and compensation of the friction stir welding hybrid robot.

Description

technical field [0001] The invention relates to a detection and compensation system and method for a robot end pose error, in particular to a five-degree-of-freedom hybrid robot end pose error detection and compensation system and method. Background technique [0002] At present, robots are developing rapidly and are widely used in various industries. With the rapid development of high-precision technology in the field of modern automation, the performance requirements of robots are getting higher and higher. Due to its high rigidity and good performance, hybrid robots are widely used in the field of industrial automation processing. There are many performance indicators to evaluate the robot, among which the absolute positioning accuracy and the repeat positioning accuracy of the machining trajectory are more important. The accuracy of the pose comprehensively reflects the control accuracy of the robot and the performance of the entire electromechanical system. Therefore...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/02B25J9/16B25J19/02G01S17/08
CPCB25J9/0072B25J9/023B25J9/1664B25J9/1697B25J19/023G01S17/08
Inventor 肖聚亮王健洪鹰黄田刘海涛王国栋张阳阳孙誉博王云鹏
Owner TIANJIN UNIV