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Robot path precision compensation method and system

A precision compensation and robot technology, applied in the field of robots, can solve the problems of control bandwidth limitation, error compensation hysteresis, and difficulty in compensating for deformation, and achieve the effect of compensating for hysteresis and improving trajectory accuracy.

Active Publication Date: 2021-10-26
SHANDONG UNIV
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AI Technical Summary

Problems solved by technology

[0006] The method based on the calibration of kinematic parameters is difficult to compensate the deformation caused by the external load force; although the compensation method based on the external pose measurement equipment can better compensate the error caused by the internal factors of the robot, it is limited by the control bandwidth of the robot. The lower closed-loop control has hysteresis for error compensation

Method used

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  • Robot path precision compensation method and system
  • Robot path precision compensation method and system

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] This embodiment provides a robot path accuracy compensation method, such as figure 1 shown, including:

[0043] Obtain the external force information of the robot, calculate the deformation of the robot end according to the joint stiffness information, joint angle information and external force information, and obtain the force compensation amount;

[0044] Obtain the actual position of the robot end, calculate the trajectory correction amount combined with the theoretical trajectory of the robot end, and obtain the position closed-loop control compensation amount;

[0045] Combining the force compensation part with the position closed-loop control compensation part, the end path accuracy compensation scheme is obtained, and the robot is controlled to complete the end accuracy compensation.

[0046] The purpose of this embodiment is to reduce the error caused by the internal parameters and external environmental factors of the robot, improve the end position accuracy o...

Embodiment 2

[0099] In order to verify the effectiveness of Embodiment 1, it is first necessary to analyze the uncompensated trajectory accuracy of the robot itself. The test trajectory selected in this embodiment (wherein, test trajectory=theoretical trajectory=preset trajectory=desired trajectory=experimental trajectory) is as follows: Figure 7 The coordinate values ​​of the corresponding points are shown in Table 1. Wherein, the starting point is P10, and the end point is P36.

[0100] Table 1 Corresponding coordinate values ​​of the experimental trajectory

[0101]

[0102]When the robot runs for 25 seconds according to the test track, the robot moves to the position P12. At this time, a sudden change load of 200N is applied to the end of the robot, and the load direction is along the Z-axis direction under the robot base frame. Since this embodiment mainly uses the Z-direction load, the tracking accuracy in the Z-direction is selected for verification.

[0103] Figure 8 is the...

Embodiment 3

[0112] This embodiment provides a robot path accuracy compensation system, including:

[0113] The force compensation amount calculation module is used to obtain the external force information of the robot, calculate the deformation amount of the robot end according to the joint stiffness information and the external force information, and obtain the force compensation amount;

[0114] The position closed-loop control compensation amount calculation module is used to obtain the actual position of the robot end, and calculate the trajectory correction amount combined with the robot end theoretical trajectory to obtain the position closed-loop control compensation amount;

[0115] The path accuracy compensation control module is used to combine the force compensation amount with the position closed-loop control compensation amount to obtain the end path accuracy compensation scheme.

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Abstract

The invention discloses a robot path precision compensation method and system. According to the technical scheme, the robot path precision compensation method comprises the steps that the external force information of a robot is obtained, the deformation of the tail end of the robot is calculated according to the joint rigidity information and the external force information, and the force compensation amount is obtained; the actual position of the tail end of the robot is obtained, the track correction amount is calculated by combining the theoretical track of the tail end of the robot, and the position closed-loop control compensation amount is obtained; and force compensation and position closed-loop control compensation are combined to obtain a tail end path precision compensation scheme, and the robot is controlled to complete tail end precision compensation. According to the robot path precision compensation method, the track offset which is about to occur when the robot is subjected to external disturbance is calculated, and the robot is controlled to compensate the corresponding offset in advance, so that the hysteresis of position closed-loop control compensation for external load disturbance is compensated; and meanwhile, position errors caused by internal factors of the robot can be compensated through position closed-loop control compensation. Position closed-loop control and force compensation are combined, and the tail end position precision of the robot is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and system for compensating robot path accuracy. Background technique [0002] Industrial robots have a large working space and degrees of freedom, and can expand different actuators at the end to achieve different production tasks. At present, robots are mostly used in production tasks such as handling, welding, and palletizing. With the improvement of production demand in the field of high-precision manufacturing, robots have gradually been applied to the processing process in recent years. However, the industrial robot has a multi-chain structure in series, and the joint stiffness is low. The force or torque acting on the end of the robot will cause a large positional deviation, resulting in low machining accuracy under external loads. Major barriers to promotion and adoption. The positioning error of the robot mainly includes geometric error and non-geometric error. The geom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/04
CPCB25J9/1664B25J9/04
Inventor 国凯卢远孙杰
Owner SHANDONG UNIV
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