六轴工业机器人在线误差补偿方法的研究  

Research on 6-axis Industrial Robot Online Error Compensation

作　　者：蔡锦达[1] 李军华[1] 张剑皓[1] 李记岗 

机构地区：[1]上海理工大学数控数显实验室,上海200093

出　　处：《控制工程》2014年第5期638-642,共5页Control Engineering of China

基　　金：2011年上海市重大技术装备研制专项(ZB-ZBYZ-03-11-1709)

摘　　要：提出一种机器人动态误差在线补偿方法,用以提高机器人的轨迹精度。在机器人参数误差得到离线补偿之后,基于ANFIS构建自适应模糊神经网络轨迹控制器,建立在线补偿系统控制模型,通过ADAMS与Matlab的协同仿真对系统仿真分析;仿真结果验证了所提出方法的可行性。在自主研发制造的六轴工业机器人的平台上,借助于API激光跟踪仪对机器人末端跟踪测量,进行实验分析;实验结果验证了该方法的有效性。This paper presents an online compensation method for dynamic error of robot, to improve the precision of the robot＇ s traj- ectory. After the robot parameter error getting offline - compensation, a self - adaptive fuzzy neural network trajectory controller as well as the online - compensation system control model is built based on ANFIS, through co - simulation of ADAMS and MATLAB, a simu- lation analysis of system is conducted ; the results verify the feasibility of the proposed method. In the six - axis independently developed and manufactured industrial robot platform, the verification experiment is performed and analyzed by means of API Laser Tracker track- ing and measuring the end of the robot, and the results demonstrate the effectiveness of the presented method.

关 键 词：工业机器人 在线补偿控制系统 协同仿真 API激光跟踪仪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]