基于关节反馈的机器人多向重复定位误差补偿
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摘要
为进一步提高机器人末端的定位精度,通过分析机器人反向误差形成机理及影响因素,阐明了多向重复定位误差对误差补偿的影响;针对引起多向重复定位误差因素的多样性和复杂性,提出基于关节闭环反馈的反向误差补偿策略。通过试验验证这种误差补偿策略可有效抑制机器人多向重复定位误差,满足机器人高精度控制要求。
To improve the positioning accuracy of the end effector,this paper illustrates the influence of multi-directional repeated positioning error on the error compensation through analyzing the formation mechanism and influencing factors of the robot's reverse error. A reverse error compensation strategy based on joint closed-loop feedback is proposed aiming at the diversity and complexity of factors of causing the multi-directional repeated positioning error. The experimental result shows that this strategy can be used to effectively suppress the robot multi-directional repeated positioning error and it meets the requirements of the high-precision control of robots.
To improve the positioning accuracy of the end effector,this paper illustrates the influence of multi-directional repeated positioning error on the error compensation through analyzing the formation mechanism and influencing factors of the robot's reverse error. A reverse error compensation strategy based on joint closed-loop feedback is proposed aiming at the diversity and complexity of factors of causing the multi-directional repeated positioning error. The experimental result shows that this strategy can be used to effectively suppress the robot multi-directional repeated positioning error and it meets the requirements of the high-precision control of robots.
引文
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[4] Rathjen S,Richardson C. High Path Accuracy,High Process Force Articulated Robot[D].[S. I]:SAE Technical Paper,2013.
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[6]何晓煦,田威,曾远帆,等.面向飞机装配的机器人定位误差和残差补偿[J].航空学报,2017,38(4):287-297.
[7]Cordes M,Hintze W. Offline simulation of path deviation due to joint compliance and hysteresis for robot machining[J]. International Journal of Advanced Manufacturing Technology,2017,90(1/2/3/4):1075-1083.
[8]Saund B,Devlieg R. High accuracy articulated robots with CNC control systems[J]. SAE International Journal of Aerospace,2013,6(2):780-784.
[9]中国国家标准化管理委员会. GB/T12642-2013工业机器人性能规范及其试验方法[S].北京:中国标准出版社,2014.
[10]刘双龙,田威,何晓煦,等.基于机械关节反馈的机器人精度补偿技术[J].航空制造技术,2018,61(4):60-64.
[2]Russell Devlieg and Edward Feikert. One-up assembly with robots[C]. In Aerospace Manufacturing and Automated Fastening Conference&Exhibition,2008.
[3]谢乃流,陈劲杰,石岩.基于六自由度机械臂的轨迹规划[J].机械制造与自动化,2011,40(1):141-144.
[4] Rathjen S,Richardson C. High Path Accuracy,High Process Force Articulated Robot[D].[S. I]:SAE Technical Paper,2013.
[5]Dumas C,Caro S,Cherif M. Joint stiffness identification of industrial serial robots[J]. Robotica,2011,30(4):649-659.
[6]何晓煦,田威,曾远帆,等.面向飞机装配的机器人定位误差和残差补偿[J].航空学报,2017,38(4):287-297.
[7]Cordes M,Hintze W. Offline simulation of path deviation due to joint compliance and hysteresis for robot machining[J]. International Journal of Advanced Manufacturing Technology,2017,90(1/2/3/4):1075-1083.
[8]Saund B,Devlieg R. High accuracy articulated robots with CNC control systems[J]. SAE International Journal of Aerospace,2013,6(2):780-784.
[9]中国国家标准化管理委员会. GB/T12642-2013工业机器人性能规范及其试验方法[S].北京:中国标准出版社,2014.
[10]刘双龙,田威,何晓煦,等.基于机械关节反馈的机器人精度补偿技术[J].航空制造技术,2018,61(4):60-64.