An Optimization Method for Positioning Error of Robot Machining System

A technology of robot processing and optimization methods, which is applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve problems such as errors and achieve the effect of reducing positioning errors

Active Publication Date: 2022-06-07
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for optimizing the positioning error of the robot processing system, which can effectively solve the error transmission problem caused by the continuous transformation of the coordinate system during the robot processing process, and reduce the positioning of the robot end tool error

Method used

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  • An Optimization Method for Positioning Error of Robot Machining System
  • An Optimization Method for Positioning Error of Robot Machining System
  • An Optimization Method for Positioning Error of Robot Machining System

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Embodiment

[0143] Apply the method of the present invention to carry out the simulation experiment, and the process is as follows:

[0144] 1) Establish a storage matrix of points in the five coordinate systems of the laser tracker coordinate system, the robot base coordinate system, the robot end tool coordinate system, the fringe projection measurement system coordinate system, and the workpiece coordinate system.

[0145] 2) Randomly generate 110 points in the coordinate system of the laser tracker as ideal points. Randomly generate the rotation Euler angle and translation matrix in the transformation matrix between 4 sets of coordinate systems, as the transformation relationship between the ideal coordinate systems; pass 110 points in the laser tracker coordinate system through the transformation relationship between the ideal coordinate systems Convert to each coordinate system, and add the error, as the actual point. Among them, the error obeys a normal distribution, the standard ...

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Abstract

The invention discloses a method for optimizing the positioning error of a robot processing system, including: (1) constructing a robot processing system; (2) establishing five coordinate systems required for research in the robot processing system; (3) converting the calculated The transformation relationship between the five coordinate systems in the robot processing system is used as the initial transformation relationship for optimization; (4) collect the data required for optimization; (5) use the LM algorithm to optimize the relationship between the coordinate systems in the LBT closed loop, LCT closed loop and LTCW closed loop Transformation relationship; (6) Use a BP neural network model to fuse different coordinates of the same point after different closed-loop optimizations, and output the coordinates of the point after fusion as the position coordinates of the robot's end tool. This method reduces the pose error of the end tool of the robot, can effectively solve the problem of error transmission caused by the continuous transformation of the coordinate system during the robot machining process, and is easy to use in production and processing.

Description

technical field [0001] The invention relates to an optimization method of positioning error, in particular to an optimization method of positioning error of a robot processing system. Background technique [0002] In the fields of aerospace, high-speed rail ships, wind energy and nuclear power, there are a large number of super-large integral structural parts with complex surface structures and high precision requirements. It is usually difficult for heavy machine tools to complete the processing and manufacturing tasks of such structural parts. instead of manual work. However, in order to ensure the processing accuracy of the robot processing system, the system not only needs to be equipped with a high-precision and high-rigidity processing robot, but also must be equipped with a corresponding measurement system to accurately measure the positioning datum of the mobile platform, robot, and integral structural parts. , and it is necessary to unify the multi-coordinate syste...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G01B11/00
CPCB25J9/1697B25J9/1653G01B11/002Y02P90/02
Inventor 丁雅斌郝晏黄田刘海涛田文杰付津昇
Owner TIANJIN UNIV
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