Robot tail end multi-target position and pose approach method based on joint angle compensation

Abstract

The invention discloses a robot tail end multi-target position and pose approach method based on joint angle compensation. The method comprises the steps that when target values of all joint angles are determined according to nominal values of geometric parameters of a robot, and all joints of the robot are controlled to move to the target values of all the joint angles, geometric parameter errorsof the robot are identified according to the acquired measured data values of robot tail end position and pose, the identified geometric parameter errors of the robot are converted into correction values of all the joint angles of the robot, and the correction values, of the joint angles, obtained through conversion are combined to calculate to obtain compensation values, of the joint angles, forcontrolling the robot to execute the multi-target position and pose approach action. According to the method, the compensation values of the joint angles can be used for replacing the compensation ofthe geometric parameter errors to control the robot to move, so that the problem that a robot control system is closed or semi-closed, and a user cannot directly compensate the geometric parameter errors obtained through identification is solved, and the precision and efficiency of the robot tail end absolute position and pose are effectively improved.

Description

technical field [0001] The invention relates to the technical fields of precision measurement and computer application, in particular to a method for approaching multi-target poses at the end of a robot based on joint angle compensation. Background technique [0002] Due to the advantages of fast operation speed, high work efficiency, modular structure design, flexible control system, and high repeatability, robots are playing an increasingly important role in modern life. Today, there are more and more occasions where robots are used to achieve multi-target pose approximation in high-end manufacturing fields such as flexible manufacturing, auxiliary measurement, medical surgery, and aerospace. Its attitude accuracy also puts forward high requirements to realize the high-precision approximation of the robot end to the multi-target pose. The application of robots in the field of high-end manufacturing has also attracted the attention of research institutions at home and abro...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for approaching the multi-target position and posture of the robot end based on joint angle compensation, which uses the joint angle compensation value instead of compensating geometric parameter errors to control the robot motion, and solves the problem that the robot control system is closed or semi-closed. The user cannot directly compensate the geometric parameter error obtained by identification. At the same time, the objective function built is not only based on the absolute pose error of N target points, but also has a simplified expression form, which is conducive to guiding the search for joints with the objective function as the minimum. The angle correction value is calculated to obtain the joint angle compensation value, and the motion of the robot is controlled to improve the approach accuracy of the multi-target pose at the end of the robot, which can effectively improve the absolute position and attitude accuracy and efficiency of the end of the robot

Images