Error compensation method for industrial robot

An industrial robot and error compensation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as poor compensation effects

Pending Publication Date: 2022-03-11
PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of this application is to provide an error compensation method for industrial robots to solve the problem of poor compensation effect of existing error compensation methods

Method used

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  • Error compensation method for industrial robot
  • Error compensation method for industrial robot
  • Error compensation method for industrial robot

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Experimental program
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Embodiment Construction

[0035] Embodiment of Error Compensation Method of Industrial Robots:

[0036] The main concept of the present invention is that the present invention combines these two ways based on an axis measurement method and space mesh method compensation, specifically combined as: first obtain the actual DH model according to the axis measurement method, the specified moving position passes The initial DH model reverse motion solution and the actual DH model forward motion solve the first compensation location; secondly, the sports space of the industrial robot is grided, and the compensation position of the grid is obtained through the actual DH model. Combined with the high-precision measuring instrument, the real position of the grid vertex is solved by common point conversion to obtain an error of each mesh vertex; according to the grid in the first compensation location, the vertex error according to the grid is obtained by the forward distance weighting method The error at a compensat...

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Abstract

The invention relates to an error compensation method for an industrial robot, and belongs to the technical field of industrial robots. The error compensation method comprises the following steps: inputting a specified motion position into an initial robot kinematics model, and solving a rotation angle of each joint shaft by utilizing inverse motion; inputting the obtained rotation angle of each joint shaft into an actual robot kinematics model, and solving by utilizing forward motion to obtain a first compensation position corresponding to the specified motion position; the method comprises the following steps: carrying out grid division on a motion space of an industrial robot, determining a grid where a first compensation position is located, obtaining an error at the first compensation position in the grid by utilizing a spatial interpolation method according to each vertex error of the grid, and further obtaining a second compensation position by combining the first compensation position and the error of the point; and performing error compensation according to the second compensation position. The method combines an axis measurement method and a space grid method to carry out error compensation on the industrial robot, and the absolute positioning precision of the robot is effectively improved.

Description

Technical field [0001] The present invention relates to an error compensation method of industrial robots, belonging to the technical field of industrial robots. Background technique [0002] Industrial robots are a general machine with multi-freedom, multi-function and repeatable programmable, play an important role in many areas such as electronics, mechanical and automation. Industrial robots have the advantages of high precision, good stability and high load, which improves the efficiency and quality of production operations, and reduces the labor intensity of staff. The development of industrial robots is improving manufacturing labor productivity, reducing labor intensity and corporate production costs, improving the international competitiveness and product quality, improving working conditions and labor environments, and reducing environmental pollution, and achieving energy saving reductions. [0003] Industrial robots have certain errors under the influence of manufactu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628
Inventor 罗豪龙李广云王力朱华阳王鹏欧阳文李帅鑫项学泳李枭凯高扬骏
Owner PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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