Positioning accuracy compensation method and device, electronic equipment and storage medium

Abstract

The application discloses a positioning precision compensation method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a connecting rod deformation parameter of a mechanical arm; correcting a DH parameter of the mechanical arm based on the connecting rod deformation parameter of the mechanical arm, to obtain a corrected DH parameter; and transmitting the corrected DH parameter to a controller of the mechanical arm to complete positioning precision compensation of the mechanical arm. Compared with the prior art, the above technical solution considers the connecting rod deformation of the mechanical arm, and corrects the DH parameter of the mechanical arm according to the connecting rod deformation parameter of the mechanical arm, thereby reducing the influence of the connecting rod deformation on the positioning precision of the mechanical arm, and improving the positioning precision of the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of robotic arm positioning technology, and in particular to a positioning accuracy compensation method, device, electronic device, and storage medium. Background Technology

[0002] The absolute positioning accuracy of a robot is an important indicator for evaluating the performance of a robotic arm. It is mainly affected by the combined effects of geometric and non-geometric errors, such as machining errors, assembly errors, and wear of parts.

[0003] Existing methods for improving absolute positioning accuracy generally employ parameter calibration, which involves using advanced measurement techniques to identify the robot's actual kinematic parameters and then correcting the parameters in the controller or adding control algorithms to improve absolute positioning accuracy. With the continuous development of vision technology, visual closed-loop calibration methods are now commonly used for calibrating the parameters of robotic arms, such as those achieved using coordinate measuring machines or laser trackers.

[0004] The error model constructed by the above-mentioned vision technology is a geometric error model. However, in the process of heavy load assembly and handling, non-geometric factors (joint, linkage deformation, etc.) play a dominant role in the end accuracy. Calibrating only geometric parameters will result in low positioning accuracy. Summary of the Invention

[0005] This invention provides a positioning accuracy compensation method, device, electronic device, and storage medium to improve the positioning accuracy of a robotic arm.

[0006] According to one aspect of the present invention, a positioning accuracy compensation method is provided, comprising:

[0007] Obtain the link deformation parameters of the robotic arm;

[0008] Based on the link deformation parameters of the robotic arm, the DH parameters of the robotic arm are corrected to obtain the corrected DH parameters.

[0009] The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0010] According to another aspect of the present invention, a positioning accuracy compensation device is provided, comprising:

[0011] The deformation parameter acquisition module is used to acquire the deformation parameters of the robotic arm's links;

[0012] The DH parameter correction module is used to correct the DH parameters of the robotic arm based on the link deformation parameters of the robotic arm, so as to obtain the corrected DH parameters.

[0013] The correction parameter transmission module is used to transmit the corrected DH parameters to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor;

[0016] and a memory communicatively connected to the at least one processor;

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the positioning accuracy compensation method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the positioning accuracy compensation method according to any embodiment of the present invention.

[0019] The technical solution of this invention obtains the link deformation parameters of the robotic arm, and then corrects the DH parameters of the robotic arm based on the link deformation parameters to obtain the corrected DH parameters. The corrected DH parameters are then transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm. Compared with the prior art, the above technical solution considers the link deformation of the robotic arm and corrects the DH parameters of the robotic arm based on the link deformation parameters, thereby reducing the impact of link deformation on the positioning accuracy of the robotic arm and improving the positioning accuracy of the robotic arm.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a positioning accuracy compensation method provided in Embodiment 1 of the present invention;

[0023] Figure 2This is a flowchart of a positioning accuracy compensation method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of the cross-section of a robotic arm link according to Embodiment 2 of the present invention;

[0025] Figure 4 This is a flowchart of a positioning accuracy compensation method provided in Embodiment 3 of the present invention;

[0026] Figure 5 This is a schematic diagram of a positioning accuracy compensation device according to Embodiment 4 of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the positioning accuracy compensation method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a positioning accuracy compensation method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where real-time positioning is required during the movement of a robotic arm. The method can be executed by a positioning accuracy compensation device, which can be implemented in hardware and / or software, for example, the positioning accuracy compensation device can be configured in a host computer. Figure 1 As shown, the method includes:

[0032] S110. Obtain the link deformation parameters of the robotic arm.

[0033] In this embodiment, the robotic arm can be used in scenarios such as assembling and handling large loads. In these scenarios, the linkages of the robotic arm may deform, thus affecting its positioning accuracy. To improve the positioning accuracy of the robotic arm, this embodiment considers the linkage deformation parameters and corrects the DH parameters of the robotic arm using these parameters, making the DH parameters more accurate and thereby improving the positioning accuracy. The linkage deformation parameters can be used to characterize the magnitude of the linkage deformation.

[0034] For example, sensors installed in the robotic arm can be used to detect whether the link is deformed and to collect the link deformation parameters of the robotic arm.

[0035] S120. Based on the link deformation parameters of the robotic arm, the DH parameters of the robotic arm are corrected to obtain the corrected DH parameters.

[0036] The DH parameters of the robotic arm can be pre-calibrated known constants, and the positional movement of the robotic arm can be achieved through the DH parameters. The DH parameters of the robotic arm can include link length, adjacent torsion angle, link offset, and joint rotation angle.

[0037] For example, the link deformation parameters of the robotic arm can be substituted into a pre-configured parameter correction model to correct the DH parameters of the robotic arm and improve the accuracy of the DH parameters.

[0038] S130. The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0039] In this embodiment, after obtaining the corrected DH parameters, the host computer can transmit the corrected DH parameters to the controller of the robotic arm. The controller can compensate for the positioning accuracy of the robotic arm based on the corrected DH parameters, thereby reducing the impact of link deformation on the absolute positioning accuracy performance of the robotic arm.

[0040] The technical solution of this invention obtains the link deformation parameters of the robotic arm, and then corrects the DH parameters of the robotic arm based on the link deformation parameters to obtain the corrected DH parameters. The corrected DH parameters are then transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm. Compared with the prior art, the above technical solution considers the link deformation of the robotic arm and corrects the DH parameters of the robotic arm based on the link deformation parameters, thereby reducing the impact of link deformation on the positioning accuracy of the robotic arm and improving the positioning accuracy of the robotic arm.

[0041] Example 2

[0042] Figure 2 This is a flowchart of a positioning accuracy compensation method provided in Embodiment 2 of the present invention. The method in this embodiment can be combined with various optional schemes in the positioning accuracy compensation methods provided in the above embodiments. The positioning accuracy compensation method provided in this embodiment has been further optimized. Optionally, obtaining the link deformation parameters of the robotic arm includes: obtaining the link deformation parameters of the robotic arm through a fiber Bragg grating sensor, wherein the fiber Bragg grating sensor includes multiple fiber optic components, and each fiber optic component is symmetrically embedded in the link of the robotic arm at equal intervals.

[0043] like Figure 2 As shown, the method includes:

[0044] S210. Obtain the link deformation parameters of the robotic arm through a fiber Bragg grating sensor, wherein the fiber Bragg grating sensor includes multiple fiber optic components, and each fiber optic component is symmetrically embedded in the link of the robotic arm at equal intervals.

[0045] In this embodiment, the robotic arm is a serial robotic arm, which includes joints and links. The joints are used to connect two adjacent links, and the joints include rotary joints and locating joints. The fiber Bragg grating (FBG) sensor can be an embedded FBG strain sensor, with a measurement accuracy at the micro-nano level.

[0046] It should be noted that using embedded sensor mounting avoids external cable redundancy. The fiber optic components in the fiber Bragg grating sensor can be connected in series, facilitating wiring and installation in series mechanical arms. Furthermore, the lightweight fiber optic components reduce the impact on parameters such as the center of mass of the connecting rod itself. In addition, FBG sensors are resistant to electromagnetic interference, effectively shielding the measurement results from noise signals.

[0047] For example, Figure 3 This is a schematic diagram of the cross-section of a robotic arm link provided in an embodiment of the present invention. Figure 3 In the diagram, 1(a), 1(b), 1(c) and 1(d) are fiber optic components of the fiber Bragg grating sensor. Each fiber optic component is symmetrically embedded in the connecting rod of the robotic arm at equal intervals to achieve uniformity and reliability of data sampling; 2 is the connecting rod of the robotic arm, and 3 is the hollow part of the robotic arm.

[0048] S220. Based on the link deformation parameters of the robotic arm, the DH parameters of the robotic arm are corrected to obtain the corrected DH parameters.

[0049] S230. The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0050] In the technical solution of this invention embodiment, each fiber component of the fiber Bragg grating sensor is symmetrically embedded at equal intervals in the connecting rod of the robotic arm to improve the reliability of the collected connecting rod deformation parameters.

[0051] Example 3

[0052] Figure 4 This is a flowchart of a positioning accuracy compensation method provided in Embodiment 3 of the present invention. The method in this embodiment can be combined with various optional schemes in the positioning accuracy compensation methods provided in the above embodiments. The positioning accuracy compensation method provided in this embodiment has been further optimized. Optionally, the link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters; the step of correcting the DH parameters of the robotic arm based on the link deformation parameters to obtain the corrected DH parameters includes: inputting the adjacent link offset parameters and connected link rotation parameters into a pre-configured deformation error determination model to obtain deformation error parameters; and determining the corrected DH parameters based on the deformation error parameters and the DH parameters of the robotic arm.

[0053] like Figure 4 As shown, the method includes:

[0054] S310. Obtain the link deformation parameters of the robotic arm, wherein the link deformation parameters of the robotic arm include the offset parameters of adjacent links and the rotation parameters of connected links.

[0055] The adjacent link offset parameter refers to the translation vector of adjacent link segments. The connected link rotation parameter refers to the Euler angles of connected link segments.

[0056] For example, It can represent the offset parameters of the adjacent links i-1 and i, where tx represents the translation vector in the x-axis direction, ty represents the translation vector in the y-axis direction, and tz represents the translation vector in the z-axis direction. It can represent the rotational parameters of the connecting link i-1 and link i, where rz represents the Euler angle in the z-axis direction, ry represents the Euler angle in the y-axis direction, and rx represents the Euler angle in the x-axis direction.

[0057] S320. Input the adjacent link offset parameters and the connected link rotation parameters into the pre-configured deformation error determination model to obtain the deformation error parameters.

[0058] Among them, the deformation error determination model is a pre-configured mathematical calculation model that can be used to calculate deformation error parameters.

[0059] For example, the deformation error determination model can be:

[0060] ΔTranslate={Δtx,Δty,Δtz}

[0061] ΔRotation = {Δrz, Δry, Δrx}

[0062] Δrx=arctan2(Δ(cos(ry)sin(rx)),Δ(cos(ry)cos(rx)))

[0063]

[0064] Δrz=arctan2(Δ(cos(ry)sin(rz)),Δ(cos(rz)cos(ry)))

[0065] Here, ΔTranslate represents the deformation error parameters corresponding to the offset parameters of adjacent links, and Δtx, Δty, and Δtz can be determined by the offset parameters {tx, ty, tz} of adjacent links at different times. ΔRotation represents the deformation error parameters corresponding to the rotation parameters of connected links, and Δrz, Δry, and Δrx can be obtained by substituting the rotation parameters {rz, ry, rx} of connected links into the deformation error determination model.

[0066] S330. Determine the corrected DH parameters based on the deformation error parameters and the DH parameters of the robotic arm.

[0067] Specifically, the deformation error parameter can be added to the DH parameter of the robotic arm to obtain the corrected DH parameter.

[0068] For example, the formula for determining the corrected DH parameters can be:

[0069] *α i =α i +Δrx

[0070] *a i =a i +Δtx

[0071] *θ i =θ i +Δrz

[0072] *d i =d i +Δtz

[0073] Among them, a i α represents the length of the link. i d represents the adjacent twist angle. i θ represents the link offset. i Indicates the joint angle. *a i Indicates the corrected link length, *α iIndicates the corrected adjacent torsion angle, *d i This represents the corrected link offset, *θ i This indicates the corrected joint angle.

[0074] S340. The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0075] For example, the controller of the robotic arm can perform link coordinate system transformation according to the corrected DH parameters to obtain the true Cartesian space pose of the deformed end effector, and then calibrate the absolute positioning accuracy according to the true Cartesian space pose of the deformed end effector.

[0076] In some alternative embodiments, after obtaining the link deformation parameters of the robotic arm, the method further includes: performing finite element analysis on the link deformation parameters of the robotic arm to obtain a deformation relationship matrix and a stiffness matrix; and transmitting the deformation relationship matrix and stiffness matrix to the controller of the robotic arm to compensate for the motion error of the robotic arm.

[0077] For example, the host computer can discretize the collected link deformation parameters of the robotic arm through finite element analysis (FEA), thereby obtaining the deformation relationship matrix and stiffness matrix between force or torque and the deformation of each node. The deformation relationship matrix and stiffness matrix are then transmitted to the controller of the robotic arm, which can compensate for the motion error of the robotic arm from the position loop and impedance loop.

[0078] It should be noted that the mechanical stiffness of the robotic arm links determines the upper limit of the overall stiffness of the robotic arm. The stiffness matrix obtained through finite element analysis includes the upper limit of the mechanical stiffness of the link material. Therefore, the controller of the robotic arm can adjust the upper limit of the stiffness of the robotic arm in the impedance motion mode according to the upper limit of the mechanical stiffness of the link material.

[0079] The technical solution of this invention involves inputting the offset parameters of adjacent links and the rotation parameters of connected links into a pre-configured deformation error determination model to obtain deformation error parameters. Then, based on the deformation error parameters and the DH parameters of the robotic arm, the corrected DH parameters are determined, thereby reducing the impact of link deformation on the positioning accuracy of the robotic arm.

[0080] Example 4

[0081] Figure 5 This is a schematic diagram of a positioning accuracy compensation device provided in Embodiment 4 of the present invention. Figure 5 As shown, the device includes:

[0082] Deformation parameter acquisition module 410 is used to acquire the link deformation parameters of the robotic arm;

[0083] The DH parameter correction module 420 is used to correct the DH parameters of the robotic arm based on the link deformation parameters of the robotic arm, so as to obtain the corrected DH parameters.

[0084] The correction parameter transmission module 430 is used to transmit the corrected DH parameters to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0085] The technical solution of this invention obtains the link deformation parameters of the robotic arm, and then corrects the DH parameters of the robotic arm based on the link deformation parameters to obtain the corrected DH parameters. The corrected DH parameters are then transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm. Compared with the prior art, the above technical solution considers the link deformation of the robotic arm and corrects the DH parameters of the robotic arm based on the link deformation parameters, thereby reducing the impact of link deformation on the positioning accuracy of the robotic arm and improving the positioning accuracy of the robotic arm.

[0086] In some alternative implementations, the link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters;

[0087] DH parameter correction module 420 includes:

[0088] The deformation error determination unit is used to input the adjacent link offset parameters and the connected link rotation parameters into a pre-configured deformation error determination model to obtain deformation error parameters;

[0089] The DH parameter correction unit is used to determine the corrected DH parameters based on the deformation error parameters and the DH parameters of the robotic arm.

[0090] In some optional implementations, the deformation parameter acquisition module 410 is further configured to:

[0091] The link deformation parameters of the robotic arm are obtained by a fiber Bragg grating sensor, wherein the fiber Bragg grating sensor includes multiple fiber optic components, each of which is symmetrically embedded in the link of the robotic arm at equal intervals.

[0092] In some optional embodiments, the positioning accuracy compensation device further includes:

[0093] The finite element analysis module is used to perform finite element analysis on the link deformation parameters of the robotic arm to obtain the deformation relationship matrix and stiffness matrix;

[0094] A matrix transmission module is used to transmit the deformation relationship matrix and stiffness matrix to the controller of the robotic arm to compensate for the motion error of the robotic arm.

[0095] In some alternative embodiments, the robotic arm is a serial robotic arm, wherein the serial robotic arm includes joints and links, the joints being used to connect two adjacent links, and the joints including rotary joints and locating joints.

[0096] In some alternative implementations, the DH parameters of the robotic arm include link length, adjacent torsion angle, link offset, and joint rotation angle.

[0097] The positioning accuracy compensation device provided in the embodiments of the present invention can execute the positioning accuracy compensation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0098] Example 5

[0099] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0100] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An I / O interface 15 is also connected to the bus 14.

[0101] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0102] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a positioning accuracy compensation method, which includes:

[0103] Obtain the link deformation parameters of the robotic arm;

[0104] Based on the link deformation parameters of the robotic arm, the DH parameters of the robotic arm are corrected to obtain the corrected DH parameters.

[0105] The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm.

[0106] In some embodiments, the positioning accuracy compensation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the positioning accuracy compensation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the positioning accuracy compensation method by any other suitable means (e.g., by means of firmware).

[0107] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0109] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0110] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0111] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0112] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0113] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0114] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A positioning accuracy compensation method, characterized in that, include: Obtain the link deformation parameters of the robotic arm, wherein the robotic arm is used for assembling large loads; Based on the link deformation parameters of the robotic arm, the DH parameters of the robotic arm are corrected to obtain the corrected DH parameters. The corrected DH parameters are transmitted to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm. The acquisition of the link deformation parameters of the robotic arm includes: The link deformation parameters of the robotic arm are obtained by means of a fiber Bragg grating sensor, wherein the fiber Bragg grating sensor includes multiple fiber components, each of which is symmetrically embedded in the link of the robotic arm at equal intervals, and the link deformation parameters are used to characterize the magnitude of the link deformation of the robotic arm. The link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters, wherein the adjacent link offset parameters are translation vectors of adjacent link segments, and the connected link rotation parameters are Euler angles of connected link segments; The step of correcting the DH parameters of the robotic arm based on the link deformation parameters of the robotic arm to obtain the corrected DH parameters includes: The adjacent link offset parameters and the connected link rotation parameters are input into a pre-configured deformation error determination model to obtain deformation error parameters; The deformation error determination model is as follows: in, This represents the deformation error parameter corresponding to the offset parameter of adjacent links. They can be obtained from the offset parameters of adjacent links at different times. Sure, This represents the deformation error parameter corresponding to the rotation parameters of the connected links. The rotation parameters of the connected links can be... Substituting into the deformation error determination model, we obtain ; The corrected DH parameters are determined based on the deformation error parameters and the DH parameters of the robotic arm; The corrected DH parameters are as follows: in, Indicates the length of the link. Indicates adjacent twist angles, Indicates the link offset. Indicates joint angle, This indicates the corrected link length. Indicates the corrected adjacent torsion angles. This indicates the corrected link offset. This indicates the corrected joint angle.

2. The method according to any one of claims 1, characterized in that, After obtaining the link deformation parameters of the robotic arm, the following steps are also included: Finite element analysis was performed on the link deformation parameters of the robotic arm to obtain the deformation relationship matrix and stiffness matrix; The deformation relationship matrix and stiffness matrix are transmitted to the controller of the robotic arm to compensate for the motion error of the robotic arm.

3. The method according to claim 1, characterized in that, The DH parameters of the robotic arm include link length, adjacent torsion angle, link offset, and joint rotation angle.

4. The method according to claim 1, characterized in that, The robotic arm is a serial robotic arm, wherein the serial robotic arm includes joints and links, the joints are used to connect two adjacent links, and the joints include rotary joints and locating joints.

5. A positioning accuracy compensation device, characterized in that, include: A deformation parameter acquisition module is used to acquire the link deformation parameters of the robotic arm, wherein the robotic arm is used for large load assembly; The DH parameter correction module is used to correct the DH parameters of the robotic arm based on the link deformation parameters of the robotic arm, so as to obtain the corrected DH parameters. The correction parameter transmission module is used to transmit the corrected DH parameters to the controller of the robotic arm to complete the positioning accuracy compensation of the robotic arm. The deformation parameter acquisition module is further configured to: acquire the link deformation parameters of the robotic arm through a fiber Bragg grating sensor, wherein the fiber Bragg grating sensor includes multiple fiber optic components, each of which is symmetrically embedded in the link of the robotic arm at equal intervals, and the link deformation parameters are used to characterize the magnitude of the link deformation of the robotic arm. The link deformation parameters of the robotic arm include adjacent link offset parameters and connected link rotation parameters, wherein the adjacent link offset parameters are translation vectors of adjacent link segments, and the connected link rotation parameters are Euler angles of connected link segments; The DH parameter correction module includes: The deformation error determination unit is used to input the adjacent link offset parameters and the connected link rotation parameters into a pre-configured deformation error determination model to obtain deformation error parameters; The deformation error determination model is as follows: in, This represents the deformation error parameter corresponding to the offset parameter of adjacent links. They can be obtained from the offset parameters of adjacent links at different times. Sure, This represents the deformation error parameter corresponding to the rotation parameters of the connected links. The rotation parameters of the connected links can be... Substituting into the deformation error determination model, we obtain ; The DH parameter correction unit is used to determine the corrected DH parameters based on the deformation error parameters and the DH parameters of the robotic arm. The corrected DH parameters are as follows: in, Indicates the length of the link. Indicates adjacent twist angles, Indicates the link offset. Indicates joint angle, This indicates the corrected link length. Indicates the corrected adjacent torsion angles. This indicates the corrected link offset. This indicates the corrected joint angle.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the positioning accuracy compensation method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the positioning accuracy compensation method according to any one of claims 1-4.

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