Hybrid robot working accuracy compensation method and system, and storage medium

Abstract

The invention discloses a hybrid robot working accuracy compensation method and system, and a storage medium. The method comprises two stages of trial operation and formal operation: in the trial operation stage, the method comprises the step of establishing a database, wherein a corresponding relation table between the specific actions executed by the hybrid robot and the compensation value is stored in the database; and in the formal operation stage, the method comprises the steps of acquiring a compensation value corresponding to the specific action from the database when the hybrid robot needs to perform the specific action, and controlling the hybrid robot to move linearly according to the compensation value. The accumulate error of mechanical arms caused by the sliding of an AGV baseof the hybrid robot can be overcome, and the working accuracy of the hybrid robot can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a method, system and storage medium for compensating the working accuracy of a composite robot. Background technique [0002] The robotic arm and AGV (English full name "Automated Guided Vehicle", also known as "Automated Guided Vehicle", hereinafter referred to as AGV) can be combined into a composite robot, which is often used in handling, mobile loading and unloading and other occasions. However, during the implementation process, it was found that at least the following technical problems existed in the prior art: since the positioning accuracy of the AGV is often lower than that of the mechanical arm, and when the mechanical arm is working, the reverse force of the mechanical arm on the AGV will cause the AGV to shake , which further reduces the working accuracy of the composite robot. [0003] The current technology adopted for this situation is to use a lower-spee...

AI Technical Summary

Problems solved by technology

However, during the implementation process, it was found that at least the following technical problems existed in the prior art: since the positioning accuracy of the AGV is often lower than that of the mechanical arm, and when the mechanical arm is working, the reverse force of the mechanical arm on the AGV will cause the AGV to shake , which further reduces the working accuracy of the composite robot

Therefore, the currently known technologies are all about passively preventing the impact of the vibration of the manipulator arm on the AGV platform, and there is no powerful measure that can actually solve the problem of the working accuracy of the composite robot.

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