Industrial robot trajectory tracking system and method adopting neural network iterative compensation

An industrial robot and neural network technology, applied in the field of motion trajectory accuracy improvement system and industrial robot trajectory tracking system, can solve problems such as inability to adjust parameters

Active Publication Date: 2021-03-19
ZHEJIANG SCI-TECH UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Most of the current industrial robots integrate basic motor PID control, but these PID controls have the disadva

Method used

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  • Industrial robot trajectory tracking system and method adopting neural network iterative compensation
  • Industrial robot trajectory tracking system and method adopting neural network iterative compensation
  • Industrial robot trajectory tracking system and method adopting neural network iterative compensation

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Embodiment Construction

[0067] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0068] Embodiments of the present invention are as follows:

[0069] The specific implementation system is as figure 1 As shown, it includes industrial robot 2, measuring device 3 and track tracking system 1, track tracking system 1 is connected with industrial robot 2 and measuring device 3 respectively, industrial robot 2 is connected with measuring device 3, industrial robot 2, measuring device 3 and track The tracking system 1 jointly constructs a closed-loop industrial robot motion trajectory tracking system; the end flange of the industrial robot 2 is equipped with a moving target ball matched with the measuring equipment.

[0070] Trajectory tracking system 1 includes trajectory planning module 4, inverse solution compensation module 5, neural network PID module 8, robot input interface 11, robot output interface 12, measurement control modul...

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Abstract

The invention discloses an industrial robot trajectory tracking system and method adopting neural network iterative compensation. The trajectory tracking system is connected with an industrial robot and a measurement device separately, and a follow-up target ball matched with the measurement device is installed on a flange at the tail end of the industrial robot. A trajectory planning module is connected with the input end of the industrial robot through an inverse solution compensation module, a neural network PID module and a robot input interface in sequence, and the output end of the industrial robot is connected with a PID control module through a robot output interface. The trajectory planning module is connected with an error analysis module, the error analysis module is connected with the output end of the measurement device through a measurement output interface, and a measurement control module is connected with the input end of the measurement device through a measurement input interface. By means of the industrial robot trajectory tracking system and method, the inverse solution precision of the robot is improved, the influence of joint errors on the motion trajectory precision is reduced, and the robot is controlled to move according to an expected trajectory through the robot input interface; and the industrial robot trajectory tracking system and method are suitable for occasions with high motion trajectory precision requirements, such as welding, spraying and polishing.

Description

technical field [0001] The invention relates to a system and method for improving the motion trajectory accuracy in the technical field of robots, in particular to an industrial robot trajectory tracking system method with neural network iterative compensation. Background technique [0002] Trajectory tracking control of industrial robots refers to applying speed, acceleration and other drives to industrial robots after the desired trajectory is given, so as to control the end movement of the robot to accurately track the desired trajectory. Trajectory tracking of industrial robots is an important link to ensure that robots have high precision in industrial operations. The trajectory tracking of industrial robots roughly includes four parts: motion trajectory planning, inverse kinematics analysis, robot control and error measurement analysis, among which robot control is the core part of trajectory tracking. [0003] At present, the trajectory tracking control of robots is ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J11/00B23K37/02
CPCB25J9/161B25J9/1664B25J11/0065B25J11/0075B23K37/0252B23K37/0247
Inventor 张恩政陈本永王涛
Owner ZHEJIANG SCI-TECH UNIV
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