Precision compensation method for serial six-axis robots

Abstract

This invention provides a precision compensation method for a serial six-axis robot, comprising the following steps: S1. Constructing a finite element simulation model of the serial six-axis robot; S2. Obtaining the link stiffness, joint torsional stiffness, and joint overturning stiffness under stress in the finite element simulation model of the serial six-axis robot; S3. Calculating the force and torque on the link, and the torque and overturning torque on the joint; S4. Calculating the deformation and angle changes of the link, and the angle changes of the joint; S5. Determining the changes in DH parameters and the end effector pose; S6. Determining the compensated DH parameter model and the end effector pose; S7. Controlling the serial six-axis robot according to the compensated DH parameter model and the end effector pose to achieve precision compensation. Through the above method, the compensation precision of the serial six-axis robot can be improved, thereby improving the control precision of the serial six-axis robot.

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