A six-dimensional stiffness error compensation system and compensation method for an industrial robot

Abstract

The invention discloses a six-dimensional stiffness error compensation system for an industrial robot and a compensation method thereof. The system includes a load measuring device and a laser tracker; the load measuring device is fixed at the end of the industrial robot, and includes an adapter plate, a six-dimensional force sensor, an X Axis loading device, Y-axis loading device, Z-axis loading device and target ball; the adapter plate is fixedly connected with the end flange of the industrial robot; the six-dimensional force sensor is fixed on the adapter plate; the front end of the X-axis loading device is fixed on the six On the force sensor; the Y-axis loading device is set on the X-axis loading device; the Z-axis loading device is set on the Y-axis loading device; both the Y-axis loading device and the Z-axis loading device have weights, and the weights can be set at their length Any position in the direction; the target ball is fixedly set on the adapter plate; the laser tracker is located on the rear side of the industrial robot, which can measure the spatial position of the target ball. The invention has the advantages of simple structure, can effectively improve the positioning accuracy and the like.

Description

technical field [0001] The invention belongs to the field of robots, and relates to an industrial robot parameter calibration technology, in particular to a six-dimensional stiffness error compensation system and a compensation method of an industrial robot based on variable kinematic parameters. Background technique [0002] With the rapid development of robot technology, industrial robots are gradually expanding to high-end manufacturing fields, such as hole making / riveting in the aerospace industry, wind turbine blade grinding, etc. And these application fields have higher and higher precision requirements for industrial robots. Studies have shown that the absolute positioning error of industrial robots is mainly divided into geometric parameter error and non-geometric parameter error, of which geometric parameter error accounts for more than 80% of the total error. This type of error can be compensated with high precision through geometric parameter calibration technolog...

AI Technical Summary

Problems solved by technology

At present, the joint stiffness model of industrial robots mainly considers the stiffness parameters of the joint rotation axis, while ignoring the stiffness parameters of other dimensions. When the end load of the robot is large, it may still cause a large positioning error, and there is no compensation for six-dimensional stiffness errors. method

At present, the static load method of the robot is mainly used to identify the stiffness parameters of the industrial robot, but the load application system is usually relatively complicated, and even the working space of the robot is limited, and the data measurement of a large working space cannot be realized, and the measurement data cannot fully reflect the stiffness change of the industrial robot. This will lead to low identification accuracy of industrial robot stiffness parameters, which will directly affect the precision performance of industrial robots

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