Compensation method and device for angle transmission error and computer readable storage medium

Abstract

The invention discloses an angle transmission error compensation method and device and a computer readable storage medium, and the method is applied to a robot, and comprises the following steps: obtaining a planned joint angle nominal value of the robot at the current moment of motion, and setting a joint number; acquiring an angle transmission error of a joint end corresponding to the joint number; the planned joint angle nominal value corresponding to the joint number is substituted into a preset angle conveying error model, and an angle compensation value of the joint end is obtained based on a preset iterative algorithm; and correcting the angle transmission error according to the angle compensation value, generating a planning instruction according to the corrected angle transmission error, and issuing the planning instruction to an execution unit to complete angle compensation of the joint end corresponding to the joint number. By implementing the method and the device, the angle transmission error of the robot joint is compensated, and the influence of the angle transmission error on the joint precision is eliminated, so that the track precision of the robot during continuous movement is improved.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a compensation method, device and computer-readable storage medium for angle transmission errors. Background technique [0002] With the rise of labor costs and increasingly stringent product requirements, industrial robots, especially high-precision industrial robots, are getting more and more attention, especially in the fields of precision dispensing, gluing, welding, and laser cutting. [0003] In the prior art, kinematic parameter calibration is generally used to improve the positioning accuracy of industrial robots, which can basically meet the requirements for occasions where only point accuracy is required. [0004] However, in scenarios such as precision dispensing, gluing, welding, and laser cutting, due to the high requirements for the trajectory accuracy of continuous motion, the existing calibration methods are difficult to meet the high-precision requirements. Con...

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Problems solved by technology

[0005] The main purpose of the present invention is to provide a compensation method for angle transmission error, a compensation device for angle transmission error and a computer-readable storage medium, aiming to solve the technical problem of how to make the trajectory accuracy of the robot reach a higher level during continuous motion

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