Industrial robot milling error compensation method, system and device and medium

Abstract

The invention discloses an industrial robot milling error compensation method and system and a medium. The method comprises the following steps that the milling force F in the robot machining process is obtained, and the joint angle Q in the robot machining process is obtained; a first relationship between the milling force of a robot and a deformation error compensation value is constructed, and a second relationship between the joint angle of the robot and a positioning error compensation value is constructed; the compensation amount delta 1 of the deformation error of the robot is calculated according to the milling force F and the first relationship, and the compensation amount delta 2 of the positioning error of the robot is calculated according to the joint angle Q and the second relationship; and the compensation amount delta 1 and the compensation amount delta 2 are superposed to obtain a total compensation value delta of a robot milling error, and the total compensation value delta is fed back to the robot. The deformation error of the robot under the action of the milling force and the positioning error generated by geometric parameters of the robot are considered at the same time, the two errors are compensated for at the same time, the compensation effect is stable, and the method can be widely applied to the technical field of robots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method, system, device and medium for compensating milling processing errors of industrial robots. Background technique [0002] Robots are widely used in palletizing, painting, welding and other fields because of their advantages such as high flexibility, good flexibility, cheap price, and high repeat positioning accuracy, but their disadvantages such as poor rigidity and low absolute positioning accuracy limit their application in the field of cutting processing , Therefore, in order to improve the machining accuracy, introducing a compensation system in the robot cutting unit can significantly reduce production costs, improve the utilization of equipment and processing space, and effectively improve the speed of technological innovation and corporate competitiveness. [0003] In the application of robot machining, the prediction and compensation of errors has always been a ho...

AI Technical Summary

Problems solved by technology

The measurement accuracy of the visual or optical measurement system is easily affected by chips, and the measurement range is limited, which has certain limitations

And most of the existing research is to compensate the positioning error and deformation error separately, and there are few scholars involved in the online compensation of positioning error and deformation error at the same time.

Images