A system and method for detecting and compensating the end pose error of a five-degree-of-freedom hybrid robot
An error detection and compensation system technology, applied in radio wave measurement systems, instruments, manipulators, etc., can solve problems such as inaccurate pose errors, improve processing accuracy, optimize real-time performance, and improve the level of intelligence.
Active Publication Date: 2021-11-23
TIANJIN UNIV
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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
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[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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The invention discloses a five-degree-of-freedom hybrid robot end pose error detection and compensation system, comprising a hybrid robot body and a friction stir welding stirring head installed at the end of the hybrid robot body. The hybrid robot body includes over-constrained three degrees of freedom. It also includes a visual positioning system and a laser rangefinder; the visual positioning system is used to measure the three-dimensional coordinate value of the end of the main shaft of the mixing head, which includes at least one set of binocular cameras; The distance meter is used to collect the distance from the emission end to the surface of the workpiece; a ring-shaped rotating disk is arranged on the shoulder of the main shaft of the stirring head; the ring-shaped rotating disk rotates at a constant speed around the axis of the main shaft of the stirring head under the driving of the driving device, and the laser distance meter is fixed on the shaft. on an annular rotating disc. The invention also discloses a method for detecting and compensating the end posture error of a five-degree-of-freedom hybrid robot, which can be applied to 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...
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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