Industrial robot positioning precision reliability analysis method based on evidence theory

Abstract

The invention provides an industrial robot positioning precision reliability analysis method based on an evidence theory, and the method is characterized in that the method comprises the following steps: building a reference coordinate system at each connecting rod joint of an industrial robot, and building a homogeneous transformation matrix between adjacent reference coordinate systems; deriving a propagation mapping relation between parameter errors such as connecting rod length and joint angle and position errors of an end effector, and establishing a positioning precision reliability analysis model according to a deviation distance between a nominal value and an actual value of the end position of the industrial robot; counting correlation and change interval range information of a small amount of connecting rod parameter sample data, re-dividing a parameter change interval into a plurality of sub-intervals, and establishing a generalized evidence theory model to uniformly measure related and independent connecting rod parameter errors; and allocating each joint subinterval to carry out basic probability, calculating an end effector position response extreme value in the joint subinterval under the unified measurement framework, and obtaining a value interval of the end effector position response as well as the reliability and the likelihood of the value interval.

Description

technical field [0001] The invention relates to the analysis of the reliability of the positioning accuracy of an industrial robot, in particular to an analysis method for the reliability of the positioning accuracy of an industrial robot based on evidence theory. Background technique [0002] As one of the effective means to improve working conditions, product quality and production efficiency, industrial robots have been widely used in the field of industrial manufacturing. Typical applications include handling, painting, welding and assembly. In fact, due to the influence of manufacturing errors, joint clearance, aging, controller errors and other factors, the connecting rod parameters of industrial robots inevitably have errors, which seriously affect the working performance of industrial robots and limit their applications in high-precision fields. In addition, most parts of a batch of industrial robots are processed in the same factory or in the same batch, resulting i...

AI Technical Summary

Problems solved by technology

However, in practical engineering, it is generally difficult to provide a large number of sample information and a certain distribution type to establish a probability model of these error variables, and the probability model cannot reasonably quantify the cognitive uncertainty in the robot modeling parameters

In addition, most of the existing methods ignore the correlation between the connecting rod size parameters

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