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Grading errors based robot track correcting method and system

A robot and robot positioning technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of time-consuming acquisition of large amounts of data, model accuracy, and dependence on generalization capabilities, so as to reduce measurement errors and have wide applicability , to avoid time-consuming effects

Active Publication Date: 2021-04-30
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

The accuracy and generalization ability of the model established by this method are very dependent on the data, and obtaining a large amount of data is time-consuming

Method used

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  • Grading errors based robot track correcting method and system
  • Grading errors based robot track correcting method and system
  • Grading errors based robot track correcting method and system

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0031] In the present invention, the terms "first", "second" and the like (if any) in the present invention and drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0032] figure 1 It is a flow chart of the method for correcting robot trajectory based on classification error provided by the embodiment of the present invention...

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Abstract

The invention discloses a grading errors based robot track correcting method and system, and belongs to the field of robot control. The method comprises the following steps: determining the optimal test point and measuring first positioning errors of a robot under the optimal test point by taking the minimal condition number as the target; correcting DH parameters in a robot controller according to DH parameter errors in the first positioning errors; dividing a joint space of front tree axles of the robot into multiple grids, and measuring second positioning errors of the robot under each grid; identifying a joint angle compensation value corresponding to the front three axles from the second positioning errors, and training a preset nerve network by the joint angle compensation value corresponding to each grid and the joint angle; utilizing the trained nerve network to correct programming track until the corrected practical track is consistent with a target track. Compensation correcting is performed on geometric errors and non-geometric errors of the robot by grading, so that track precision of the robot is improved, and thus, the method has the advantages of wide applicability, good stability, high precision and the like.

Description

technical field [0001] The invention belongs to the field of robot control, and more specifically relates to a method and system for correcting robot trajectory based on classification errors. Background technique [0002] As an important part of the robot industry, industrial robots play a vital role in the fields of electrical electronics, medical aerospace, home appliances and automobiles. As industrial robots enter the field of precision equipment such as medical aerospace and electrical electronics, the positioning accuracy and trajectory accuracy of robots are becoming more and more important. Positioning accuracy is the basis of trajectory accuracy. Robot positioning errors are mainly divided into two types: geometric parameter errors and non-geometric parameter errors. The geometric parameter error is the error caused by the mismatch between the parameters of the robot kinematics model and the parameter values ​​of the real model of the robot. Non-geometric paramet...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/161B25J9/1607
Inventor 叶伯生张文彬谭帅侯昊楠张翔潘钊黎晗唐永杰
Owner HUAZHONG UNIV OF SCI & TECH
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