工业机器人绝对定位误差补偿技术研究进展  

Summary of absolute positioning error compensation technology for industrial robots

作　　者：付鹏强[1] 姜晓灿 苗宇航 王义文[1] 王昭 FU Pengqiang;JIANG Xiaocan;MIAO Yuhang;WANG Yiwen;WANG Zhao(Key Laboratory of Advanced Manufacturing and Intelligent Technology(Harbin University of Science and Technology),Ministry of Education,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学先进制造智能化技术教育部重点实验室,哈尔滨150080

出　　处：《科技导报》2021年第13期93-107,共15页Science & Technology Review

基　　金：国家自然科学基金项目(51475127);黑龙江省青年科学基金项目(QC2018064);黑龙江省普通高等学校青年创新人才培养计划项目(UNPYSCT-2018196)

摘　　要：针对航空制造业中工业机器人存在实际位姿与理论位姿偏差的问题,分析了工业机器人绝对定位误差来源,解析其对飞机零部件连接性能产生的影响,在工业机器人绝对定位误差补偿原理和主要步骤分析基础上,阐述运动学建模、位姿测量、运动学参数误差辨识以及误差补偿等关键步骤对工业机器人绝对定位误差补偿的作用及重要性,对比分析了国内外学者在该步骤中涉及的主流算法和技术,归纳总结各步骤中存在的问题和可能的解决方案,探讨了工业机器人离线与在线误差补偿技术中的不足之处,指出工业机器人绝对定位误差补偿技术的发展趋势。According to the problem that the actual position of an industrial robot has deviation from its theoretical position in aviation manufacturing industry,the source of absolute positioning error of industrial robot is explored and its influence on the connection performance of aircraft components is analyzed.Based on the principle of absolute positioning error compensation of industrial robot,the role and importance of kinematic modeling,pose measurement,kinematic parameter error identification and error compensation on absolute positioning error compensation of industrial robot are described.The mainstream algorithms and techniques developed by domestic and foreign scholars in this field are compared,and problems and possible solutions existing in each step are summarized.After discussions on shortcomings of industrial robot offline and online error compensation technologies,a development trend of industrial robot absolute positioning error compensation technology is presented.

关 键 词：工业机器人 绝对定位误差 误差分析 误差补偿技术 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]