多关节焊接机器人轨迹误差补偿解耦分析  

Research on decoupling of trajectory error compensation for multi-joint welding robot

作　　者：李雪琴[1] 蒋红海[2] 殷国富[1] 胡晓兵[1] 

机构地区：[1]四川大学制造科学与工程学院,成都610065 [2]昆明理工大学机电工程学院,昆明650504

出　　处：《焊接学报》2013年第10期63-66,116,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(51075287);四川省科技支撑计划项目(2011CGZ0049)

摘　　要：由于多种误差源的影响,机器人焊枪末端往往不能按照预定轨迹运动,提出输入附加运动法对各运动关节进行补偿,使焊枪末端产生相应的微小摄动,从而抵消位姿误差.因为6R焊接机器人各关节运动副间存在一定的耦合关系,通过分析焊接机器人各坐标系间位姿变换关系,基于小误差运动假设,建立了误差补偿模型,通过该数学模型可解耦出各关节所需要的补偿摄动量.仿真验证了所提解耦方法以及建立模型的正确性.结果表明,该算法能有效降低焊枪末端位姿误差,为焊接机器人位姿精度控制提供了有效的理论依据.Because of the influence of different error sources,the end of the welding gun doesn't follow predefined trajectory. An additional movement approach was presented to compensate position and orientation errors for each joint of the welding robot which caused small perturbation on the welding gun so that the error was eliminated. Since there were serious coupled interactions between kinematic pairs of the joints of 6-DOF welding robot,error compensation model was established based on small error assumption by analyzing the relationship between the robot coordinate system. The value of error compensation for each joint of the robot can be calculated accurately through the mathematical model. The correctness of decoupling methods and modeling presented in this paper were verified by the simulation analysis. The results showed that the algorithm can effectively reduce the position and orientation errors for the end of welding gun,which offered an effective theory foundation for the control of the pose accuracy in the welding robot.

关 键 词：焊接机器人 解耦 误差补偿 精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]