工业机器人误差补偿运动学算法设计  

Design for Errors Compensation Kinematic Algorithm of Industrial Robot

作　　者：梁兆东 肖永强 游玮 葛景国 LIANG Zhao-dong;XIAO Yong-qiang;YOU Wei;GE Jing-guo(Efort Intelligent Equipment Co.Ltd.,Anhui Wuhu 241000,China)

机构地区：[1]埃夫特智能装备股份有限公司,安徽芜湖241000

出　　处：《机械设计与制造》2021年第5期273-275,280,共4页Machinery Design & Manufacture

基　　金：国家重点研发计划资助(2017YFB1303600):面向炼钢工艺流程的机器人自动化作业系统。

摘　　要：鉴于目前国产工业机器人绝对定位精度较低,为了满足高精度应用,设计了一种误差补偿的运动学算法。以MDH模型为基础,建立几何参数误差与机器人末端位姿误差之间的误差模型。设计了通过雅克比矩阵将笛卡尔空间的位姿误差转换到关节空间的关节各轴的角度偏差,并与名义逆运动学获得逆解相结合的误差补偿运动学算法,可以获得满足误差阈值的作业精度。以自主研发ER3A机器人为误差补偿算法试验对象,经误差补偿后ER3A机器人的绝对定位精度获得明显提高,测量点的位置误差均值从0.5754mm降低到0.2779mm。In view of lower absolute positioning accuracy of domestic industrial robots,the paper designs an errors compensation to meet the high positioning applications of industrial robots.Based the MDH model,the paper builds the errors model between the geometric parameters errors and the robot end tool center position pose errors.The paper designs the errors compensation algorithm that uses the solutions of nominal inverse kinematics and the deviation of each joints from the Cartesian space pose errors based Jacobian matrix,and gets the application position accuracy that can satisfy the errors threshold.The ER3A industrial robot is chosen as the test object of errors compensation,the test displays that the absolute positioning accuracy of robot is significantly improved after errors compensation,and the mean position errors of test points is reduced from 0.5754mm to 0.2779mm.

关 键 词：误差补偿 运动学 工业机器人 运动学标定 误差模型 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]