一种基于位姿反馈的工业机器人定位补偿方法  

Positioning Error Compensation Method of Industrial Robot Based on Closed-loop Feedback of Position and Orientation

作　　者：何庆稀[1] 游震洲[1] 孔向东[2] 

机构地区：[1]温州职业技术学院,温州325000 [2]温州大学瓯江学院,温州325000

出　　处：《中国机械工程》2016年第7期872-876,共5页China Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA04A101)

摘　　要：为了提高工业机器人的绝对定位精度,提出了一种基于末端位姿闭环反馈的机器人精度补偿方法。该方法通过激光跟踪仪测量实时跟踪机器人末端靶标点的位置来监测机器人末端的位姿,并通过对靶标点的实际位置和理论位置进行匹配获得机器人末端的位姿偏差。工业机器人系统与激光跟踪测量系统通过局域网进行数据通信,并根据位姿偏差数据对机器人末端的位姿进行修正。最后通过实验对基于末端位姿闭环反馈的机器人精度补偿方法进行验证,实验表明,经过位姿闭环反馈补偿后机器人末端位置误差最大幅度可以降低到0.05mm,姿态误差最大幅度可以降低到0.012°。In order to improve the absolute positioning accuracy of an industrial robot,aposition compensation method was proposed herein based on closed-loop feedback of the position and orientation of the end effector.The compensation utilized a laser tracker to monitor the position and orientation of the robot,by measuring the optical tooling points（OTPs）fixed on the end effector,and calculated the deviations of the position and orientation by registering nominal coordinates and the measured coordinates of the OTPs.The industrial robot system communicated with the laser tracker system by industrial LAN,and adjusted the position and orientation of the robot according to the deviation data.The experiments attached in end verified the compensation method,which shows that the location errors are reduced to 0.05 mm in maximum,and the orientation errors are reduced to 0.012 degree in maximum.

关 键 词：工业机器人 绝对定位精度 位姿闭环反馈 激光跟踪仪 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置] TH242[自动化与计算机技术—控制科学与工程]