Dynamic error compensation and control method of cutting machining robot

A dynamic error and control method technology, applied in computer control, program control, general control system, etc., can solve the problems of low repeat positioning accuracy, limit robot application, cumbersome analysis and control, etc., achieve excellent control performance and suppress high-precision , to achieve the effect of compensation and control

Active Publication Date: 2020-04-14
QILU UNIV OF TECH
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  • Application Information

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Problems solved by technology

However, due to the problems of low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and control in industrial robots, the application of robots in the field of cutting processing is greatly limited.

Method used

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  • Dynamic error compensation and control method of cutting machining robot
  • Dynamic error compensation and control method of cutting machining robot
  • Dynamic error compensation and control method of cutting machining robot

Examples

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Embodiment 1

[0067] This embodiment proposes a dynamic error compensation and control method for a cutting robot. The dynamic errors of this method include three types: stable deformation error, low-frequency vibration error, and high-frequency vibration error. The specific implementation of this method is:

[0068] A) when the dynamic error is a stable deformation error, error compensation and control are performed based on the offline compensation module 6 and the online correction module 7;

[0069] B) When the dynamic error is a low-frequency vibration error, an open-loop control method based on modal analysis is used to offset the excitation force of the low-order mode by applying an additional active force at the robot joint, thereby suppressing the vibration and performing error compensation and control;

[0070] C) When the dynamic error is a high-frequency vibration error, a robot dynamics control algorithm based on a parameter self-correction and self-disturbance rejection strat...

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Abstract

The invention discloses a dynamic error compensation and control method of a cutting machining robot, belongs to the technical field of robots, and aiming at solving the problem that the dynamic erroraffects the cutting machining precision of the robot. The method comprises that when a dynamic error is a stable deformation error, error compensation and control are carried out based on an offlinecompensation module and an online correction module; when the dynamic error is a low-frequency vibration error, an open-loop control method based on modal analysis is adopted, the exciting force causing a low-order modal is counteracted by applying additional main force to the joints of the robot, vibration is inhibited, and error compensation and control are achieved; and when the dynamic error is a high-frequency vibration error, a robot dynamics control algorithm is provided, an acceleration sensor is additionally arranged in the robot, vibration signals in the machining process of the robot are collected in real time through the acceleration sensor, online real-time correction is conducted on control parameters through the robot dynamics control algorithm, and suppression of high-frequency vibration and high-precision track control are achieved.

Description

technical field [0001] The invention relates to the technical field of robot processing, in particular to a dynamic error compensation and control method of a cutting robot. Background technique [0002] The progress and application of industrial robot technology is an important means and key link to promote the development of intelligent manufacturing in my country. Industrial robots have high flexibility, low cost, large working space, and flexible position and posture control. When they are applied to cutting processing, they can adapt to the modern production mode requirements of multi-variety, small batch, and on-site processing, significantly reduce production costs, and improve equipment and processing space. The utilization rate can effectively improve the speed of technological innovation and the competitiveness of enterprises. However, industrial robots have problems such as low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/34083Y02P90/02
Inventor 周婷婷孙玉晶
Owner QILU UNIV OF TECH
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