工业机器人校准技术与补偿方法发展现状及趋势  

Development Status and Trend of Industrial Robot Calibration Technology and Compensation Method

作　　者：宫思远 赵子越[1] 刘倩頔 GONG Siyuan;ZHAO Ziyue;LIU Qiandi(Changcheng Institute of Metrology&Measurement,Beijing 100095,China)

机构地区：[1]航空工业北京长城计量测试技术研究所,北京100095

出　　处：《计测技术》2021年第3期1-8,共8页Metrology & Measurement Technology

基　　金：工信部民用飞机技术基础科研项目(MJ-2017-J-83);国家“十四五”技术基础科研项目(JSJL2020205A001)。

摘　　要：工业机器人因具有自动化程度高、定位精度好等优势,已成为我国工业智能化的攻关方向之一,并将逐步替代人工,在智能制造领域发挥不可替代的作用。在使用过程中,造成工业机器人准确度下降的因素众多,将直接影响其在叶片研磨、高精度钻铆等高精尖领域中的应用。文章在总结工业机器人通用校准模型的基础上,分析了工业机器人校准技术与误差补偿方法的现状及存在的问题,阐述了工业机器人校准方法未来的发展趋势,为后续工业机器人在线校准与误差补偿方法和规范标准的制定提供借鉴。Industrial robots have become one of the key research directions of industrial intelligence in China because of their high degree of automation and positioning accuracy.Industrial robots would gradually replace manual labor and play an irreplaceable role in the field of intelligent manufacturing.However,in the process of use,many factors may reduce the accuracy of industrial robots,which would directly affect their application in high-precision fields,such as blade grinding and high-precision drilling and riveting.In response to the above problems,on the basis of summarizing the common calibration model of industrial robots,the current situation and problems of calibration technology and error compensation methods for industrial robots are analyzed,and the future development trend of calibration methods for industrial robots is elaborated,which provides reference for the subsequent development of online calibration and error compensation methods and specification standards for industrial robots.

关 键 词：工业机器人 校准技术 校准模型 绝对定位精度 

分 类 号：TB9[一般工业技术—计量学] TP242.2[机械工程—测试计量技术及仪器]