The invention discloses an
industrial robot track iterative compensation method based on a displacement load
coupling relation. The method comprises the steps that a rigidity model of an
industrial robot is established; carrying out displacement compensation on the
metal plate under a plurality of poses, measuring an external load borne by a tool head of the
industrial robot, and solving a displacement compensation-load equation through a least square method; the rigidity model and the displacement compensation-load equation are combined, and a track iteration compensation model of the industrial
robot is constructed; a designed tool track is adopted for forming
machining of the
metal plate, external loads borne by a tool head in the forming process are collected and substituted into a track iteration compensation model of the industrial
robot, and a compensation tool track is obtained through solving; and the
metal sheet is formed through the compensation tool track. According to the industrial
robot track iterative compensation method based on the displacement load
coupling relation, the forming precision of the industrial robot can be efficiently improved with low cost, and the precision forming manufacturing requirement of high-strength metal plate parts is met.