机器人机械参数辨识与误差补偿方法  

Robot Mechanical Parameter Identification and Error Compensation Method

作　　者：赵瑜[1] 宋雪[1] 马松杰[1] ZHAO Yu;SONG Xue;MA Songjie(Department of Mechanical and Electricial Engineering,Yan’an Vocational and Technical College,Yan’an 716000,China)

机构地区：[1]延安职业技术学院机电工程系,陕西延安716000

出　　处：《微型电脑应用》2020年第12期106-109,共4页Microcomputer Applications

摘　　要：工业机器人相关配套技术,对飞机制造技术发展产生积极作用,近些年机器人技术在航空领域发展迅速。标准工业机器人重复定位精度在±0.12 mm,但其空间绝对定位精度在1~3 mm,并不能达到飞机制造领域相关加工精度的标准要求。因此,借助自主研发工业机器人的优势,提出首先基于柔性变形模型补偿的机器人绝对定位误差补偿方案。在此基础上,若这一方案仍不能达到精度要求,则应用网格补偿的方法来进行进一步的误差补偿。综合机器人几何学性能、运动学性能和动力学性能的研究成果,提出机器人综合性能的合理评价指标,并在机器人参数辨识的基础上,对机器人进行综合性能评价和全局优化方法的研究。Related supporting technologies for industrial robots have played a positive role in the development of aircraft manufacturing technologies.In recent years,robotics technologies have developed rapidly in the aviation field.The standard positioning accuracy of standard industrial robots is±0.12 mm,but its absolute positioning accuracy in space is 1~3 mm,which cannot meet the standard requirements of processing accuracy in the field of aircraft manufacturing.Therefore,based on the advantages of self-developed industrial robots,an absolute positioning error compensation scheme for robots based on flexible deformation model compensation is proposed first.On this basis,if this solution still fails to meet the accuracy requirements,a grid compensation method is applied to implement further error compensation.Based on the research results of robot geometric performance,kinematic performance and dynamic performance,a reasonable evaluation index of robot comprehensive performance is proposed,and based on robot parameter identification,comprehensive performance evaluation and global optimization methods of the robot are studied.

关 键 词：参数辨识 法向姿态 误差补偿 机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]