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Method capable of automatically eliminating motion accumulated error of robot

A technology of robot motion and accumulating errors, applied in manipulators, manufacturing tools, etc., can solve the problems of deviation between the actual motion trajectory of the robot and the theoretical motion trajectory, blocking the continuity of processing operations, affecting the efficiency and accuracy of production and processing, etc. Achieve the effect of ensuring uninterrupted continuous operation, ensuring continuity and efficiency, and improving accuracy

Inactive Publication Date: 2012-12-05
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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AI Technical Summary

Problems solved by technology

However, after the robot works for a period of time, there will be accumulated errors, which will cause the actual trajectory of the robot to deviate from the theoretical trajectory.
In order to eliminate the cumulative error, the robot is generally stopped and its zero position is repositioned to correct the deviation on its motion track, which inevitably blocks the continuity of the processing operation and seriously affects the production Processing efficiency and precision

Method used

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  • Method capable of automatically eliminating motion accumulated error of robot

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Embodiment

[0022] During the processing operation of the robot, its movement trajectory is controlled by a preset motion control program. Generally, after the robot has been working for a period of time, it will deviate from the original movement trajectory, making it difficult for the robot and the workpiece to always maintain the same position. In order not to affect the processing operation, it is necessary to reposition the zero position of the robot to eliminate the cumulative error of the robot movement. The zero calibration in the prior art needs to shut down the robot first, and then perform the zero calibration after making it stop working, which leads to the interruption of the processing operation and affects the continuity and high efficiency of the processing operation. The present invention aims at the defects of the existing technology, based on the fact that the motion of the robot is the essential characteristic of the motion of each joint, and finds another way of thinki...

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Abstract

The invention discloses a method capable of automatically eliminating a motion accumulated error of a robot. The problems that the robot is required to be stopped working in the process of eliminating an operating error of the robot, the processing continuity is blocked and the high efficiency and accuracy during the processing and production of the robot are reduced in the prior art are solved. The method comprises the following steps of: (1) obtaining an actual position relationship of joints of the robot and actual information of an actual rotating angle through a visual detection algorithm; (2) obtaining a theoretical position relationship of joints of the robot and theoretical rotating angle information through a path planning algorithm by taking the original motion path as reference; (3) comparing the actual information obtained in the step (1) with the theoretical information obtained in the step (2) to obtain an accumulated error value of the robot; and (4) automatically loading the accumulated error value into a motion control program, and performing position compensation on each joint according to the accumulated error value so as to finish online zero calibration.

Description

technical field [0001] The invention relates to a method for eliminating motion errors, specifically, a method for automatically eliminating accumulated errors in robot motion. Background technique [0002] The robot is mainly used to grip the workpiece to be processed. As an auxiliary equipment for production and processing, it is widely used. Generally, when the robot is working, it is necessary to teach or program the trajectories and actions that need to be moved in advance, and then the robot moves according to the preset program. However, there will be accumulated errors after the robot works for a period of time, which will cause the actual trajectory of the robot to deviate from the theoretical trajectory. In order to eliminate the cumulative error, the robot is generally stopped and its zero position is repositioned to correct the deviation on its motion track, which inevitably blocks the continuity of the processing operation and seriously affects the production ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
Inventor 刘霖刘娟秀叶溯杨先明叶玉堂秦娟张峰刘平尹志强刘文聪张童王奕然邹修功
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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