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Robot positioning error graded compensation method

A technology of robot positioning and compensation method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of large estimation error, and achieve the effect of improving accuracy, improving absolute positioning accuracy, and correct parameter error estimation

Active Publication Date: 2018-11-30
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calculation process of this method is simple, and there is no need to establish a complex error model, but when the attitude of the point to be compensated changes greatly, the estimation error using this method may be large

Method used

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  • Robot positioning error graded compensation method
  • Robot positioning error graded compensation method

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Effect test

Embodiment 1

[0035] The present invention is realized through the following technical solutions, as figure 1 As shown, a robot positioning error classification compensation method specifically includes the following steps:

[0036] Step S1: Randomly select the theoretical pose P of m sampling points in the area to be compensated s , using a laser tracker to measure the actual arrival pose P of the robot m , to get the end pose error ΔP of the robot before compensation m =P m -P s ;

[0037] Step S2: Establish the kinematic relationship between the connecting rods of the robot to obtain the kinematics model of the robot; establish the kinematics error model of the robot;

[0038] Step S3: Solve the kinematic error model in step S2, obtain the optimal solution of each kinematic parameter error and the corrected kinematic model, and calculate the end pose P of the robot under the corrected kinematic model k ;

[0039] Step S4: The end pose P of the robot under the corrected kinematic mod...

Embodiment 2

[0051] A hierarchical compensation method for robot positioning errors, which analyzes the distribution of robot positioning errors and the mechanism of error sources, and divides the main influencing factors of positioning errors into two types: geometric parameter errors and non-geometric parameter errors. Aiming at the error factors of geometric parameters, a coupling parameter error model is proposed which comprehensively considers the establishment error of the robot frame coordinate system and the error of geometric parameters. Aiming at non-geometric parameter error factors, a residual error model based on spatial similarity is proposed. By studying the hierarchical compensation control mechanism, the robot's hierarchical error compensation based on coupling parameter identification and spatial similarity is realized, and the absolute positioning accuracy of the robot is further improved.

[0052] Specifically include the following steps:

[0053] Step S1: Randomly sel...

Embodiment 3

[0068] Such as figure 1 As shown, a robot positioning error classification compensation method specifically includes the following steps:

[0069] Step S1: Randomly select the theoretical pose P of m sampling points in the area to be compensated s , using a laser tracker to measure the actual arrival pose P of the robot m , to get the end pose error ΔP of the robot before compensation m =P m -P s .

[0070] Step S2: Use the D-H model to establish the kinematic relationship between the connecting rods of the robot to obtain the kinematics model of the robot; according to the theoretical pose P of random sampling points given in step S1 s and the actual pose P measured by the laser tracker m , to establish the robot kinematics error model, the model is established as follows:

[0071] Use the D-H model to establish the kinematic relationship between the connecting rods of the robot. In order to avoid the singularity that occurs when two adjacent axes are parallel or nearl...

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Abstract

The invention discloses a robot positioning error graded compensation method. The method includes: calculating terminal pose errors before compensation; building a kinematic model and a kinematic error model; calculating the optimal solution of each kinematic parameter error, the corrected kinematic model and the terminal pose under the corrected kinematic model; calculating input compensation quantity after positioning error compensation; calculating actual arrival pose to obtain residual errors after parameter calibration; building a residual error estimation model, and performing expected target point compensation; predicting positioning errors; acquiring predicted target point residual errors; calculating input compensation quantity; calculating terminal actual arrival pose to completethe compensation. By the method, industrial absolute positioning precision can be increased effectively, and the anisotropy of positioning errors in the space can be shown by using the residual errormodel based on space similarity.

Description

technical field [0001] The invention relates to the technical field of automatic drilling and riveting, in particular to a method for grading and compensating robot positioning errors. Background technique [0002] The development of emerging robot technology enables robots to be used as a high-quality and high-efficiency platform, together with subsystems such as end effectors, flexible tooling, and detection and perception, to form various robotic flexible automation systems. With the support of emerging technologies, industrial robots are gradually expanding towards high-precision fields, and work tasks are developing towards high-efficiency and precision operations. Therefore, in order to achieve the higher quality, higher efficiency, and higher flexibility manufacturing and assembly technical requirements of the aviation industry, the improvement of the absolute positioning accuracy of industrial robots has become a technical problem that needs to be solved urgently. I...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 石章虎田威孟华林郑法颖曾德标张霖何晓煦
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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