Kinematic method for improving absolute positioning precision of industrial robot

An absolute positioning accuracy, industrial robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of limited compensation accuracy, limited application range, geometric parameter errors, etc., and achieve the effect of achieving the accuracy requirements of the error threshold

Active Publication Date: 2019-05-14
EFORT INTELLIGENT EQUIP CO LTD
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Problems solved by technology

This patent is only aimed at compensating some geometric parameter errors for SCARA-type industrial robots, and the scope of application is limited, and the compensation accuracy is also limited.

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  • Kinematic method for improving absolute positioning precision of industrial robot
  • Kinematic method for improving absolute positioning precision of industrial robot
  • Kinematic method for improving absolute positioning precision of industrial robot

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Embodiment Construction

[0037] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0038] like Figure 1 to Figure 4 As shown, a kinematics method for improving the absolute positioning accuracy of industrial robots includes the following steps:

[0039] S1: First establish the error model of the robot’s geometric parameter ɡ, collect the pose error ΔX of the robot’s end in the robot’s workspace, and use the identification method to identify the robot’s DH geometric parameter error Δɡ; the robot’s end position X and The kinematic relationship between joint variables q is:

[0040] X=f(q,ɡ) (1)

[0041] After considering the geometric parameter error Δɡ, the kinematic relationship between the end position of the robot and the joint variables is:

[0042] X+ΔX=f(q,ɡ+Δɡ) (2)

[0043] Through the relationship (1) and (2), the relationship between the pose error ΔX at ...

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Abstract

The invention relates to a kinematic method for improving the absolute positioning precision of an industrial robot. The kinematic method comprises the steps that S1, an error model of a geometric parameter g of a robot is established, a pose error deltaX of the tail end of the robot is collected, and an identification method is adopted to identify a DH geometric parameter error deltag of the robot; S2, a nominal inverse kinematics algorithm module f-1, a positive kinematics algorithm XE module with the geometric parameter error deltag and a computation robot geometry Jacobian matrix J algorithm module are designed in a robot controller; and S3, the robot controller implements a compensation kinematics algorithm by means of a method combining nominal inverse kinematics, positive kinematicswith homogeneous transformation of the error parameter and a joint space deviation inversely obtained by geometric Jacobian. According to the kinematic method, the robot pose error caused by the geometric error parameter is mapped to the joint space deviation through the Jacobian so as to be combined with the nominal inverse kinematics to realize the kinematic algorithm which improves the absolute positioning accuracy.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a kinematics method for improving the absolute positioning accuracy of industrial robots. Background technique [0002] The absolute positioning accuracy of industrial robots is poor due to many unavoidable factors such as manufacturing geometric parameter errors in the processing and assembly process, flexibility of connecting rods and joints, and gear backlash, and geometric parameter errors are the main source of robot end errors. The calibration of industrial robots and the corresponding compensation algorithms are an effective way to improve the absolute positioning accuracy of robots. In order to enable industrial robots to meet more precise and refined operations and offline programming simulation programs can be directly applied to the scene, and to match the actual geometric kinematics model of the robot with the model in the simulation environment, it is neces...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 梁兆东葛景国肖永强游玮储昭琦王涛
Owner EFORT INTELLIGENT EQUIP CO LTD
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