工业机器人定位误差补偿技术研究进展  

Research Progress on Positioning Error Compensation Technology of Industrial Robot

作　　者：刘伟[1,2] 刘顺 邓朝晖[1,2] 葛吉民 LIU Wei;LIU Shun;DENG Zhaohui;GE Jimin(School of Mechanical Engineering,Hunan University of Science and Technology,Xiangtan 411201;Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-cut Material,Hunan University of Science and Technology,Xiangtan 411201)

机构地区：[1]湖南科技大学机电工程学院,湘潭411201 [2]湖南科技大学难加工材料高效精密加工湖南省重点实验室,湘潭411201

出　　处：《机械工程学报》2023年第17期1-16,共16页Journal of Mechanical Engineering

基　　金：湖南省自然科学基金(2020JJ5178,2021JJ50116,2020JJ4024);湖南省教育厅科学研究(20A202)资助项目

摘　　要：工业机器人在推进工业自动化、柔性化、智能化发展道路上起着举足轻重的作用。机器人定位误差是制约其在生产制造领域应用的关键因素之一,定位误差的大小直接决定其制造所得产品的质量和精度,而机器人误差补偿技术对提高机器人的定位精度具有重要意义。以工业机器人定位误差测量-预测-补偿为线索,详细综述了国内外学者在开环测量和闭环测量技术、基于模型的误差预测和基于非模型的误差预测方法、在线补偿和离线补偿技术的研究进展。最后,对该领域的发展趋势进行了展望,以期对工业机器人定位误差补偿研究提供一定参考。Industrial robots play an important role in promoting the development of industrial automation,flexibility and intelligence.The positioning error of robot is the key factor that hinders its application in the manufacturing field.The positioning accuracy of robot determines the quality and accuracy of the products.Error compensation technology is of great significance to improve the positioning accuracy of robots.Based on the clue of positioning error measurement-prediction-compensation,the research progress of open-loop measurement and closed-loop measurement technology,model-based error prediction and non-model-based error prediction methods,online compensation and offline compensation technology is summarized in detail.Finally,the development trends are prospected in order to provide reference for the research of positioning error compensation of industrial robot.

关 键 词：工业机器人 定位误差:测量 预测 补偿 研究进展 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]