Kinematic calibration method and system for generalized kinematic error of industrial robot

Abstract

The invention relates to a kinematic calibration method and system for generalized kinematic errors of an industrial robot. The method comprises the following steps: constructing joints and geometric error models of a to-be-identified robot, and determining a generalized kinematics error model according to the two error models; performing parameter identification on the generalized kinematics error model to obtain an identified error model; under the current number of iterations, acquiring a nominal joint instruction of the robot to be identified and a compensated joint instruction under the current number of iterations; obtaining a joint instruction error matrix under the current iteration number based on the nominal joint instruction, the identified error model and the compensated joint instruction under the current iteration number; judging whether a two-norm of the joint instruction error matrix under the current iteration number is smaller than a set tolerance or not; if yes, determining that the compensated joint instruction under the current iteration frequency is a final joint instruction; and if not, updating the compensated joint instruction under the next iteration times. According to the invention, the movement of the calibrated industrial robot can be improved.

Description

technical field [0001] The invention relates to the technical field of identification and calibration of robot generalized kinematic error parameters, in particular to a kinematic calibration method and system for generalized kinematic error of industrial robots. Background technique [0002] With the transformation and upgrading of my country's manufacturing industry, the development and application of automation equipment platforms represented by industrial robots is of great strategic significance for the transformation and upgrading of production models and the improvement of advanced equipment manufacturing capabilities. Modern manufacturing, especially high-tech industries, puts forward strict requirements on the working cycle, load capacity and working precision of industrial robots, making them face extreme working conditions such as high speed and heavy load. Establish a high-precision kinematics model that characterizes system characteristics. And accurate acquisit...

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Problems solved by technology

Bending of the bearings can also cause a non-parallel connection of the gearbox, causing an out-of-plane error in the end effector, being higher in some locations and lower in others

Assembly inaccuracies, gear errors and wear combine to cause position-dependent and periodic motion errors

Small-magnitude motion errors in strain wave gearing will be amplified by series connections, resulting in large-magnitude complex robotic errors, but these are not considered in existing error motion models, and more accurate models are needed to describe these complexities. motion error, thereby improving the performance of the calibrated

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