一种指数积公式的机器人建模与参数辨识  

Robot Modeling and Parameter Identification Based on an Exponential Product Formula

作　　者：张永贵[1] 牟亚雄 冯飞翔 ZHANG Yong-gui;MOU Ya-xiong;FENG Fei-xiang(School of Electrical and Mechanical Engineering,Lanzhou University of Technology,Gansu Lanzhou 730000,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730000

出　　处：《机械设计与制造》2023年第12期88-92,共5页Machinery Design & Manufacture

基　　金：兰州市科技局科技计划项目(20180429)。

摘　　要：对于六轴机器人而言,由于自身关节柔度和机械臂刚度不足,会导致机器人在修型加工过程中末端定位精度不高,从而使机器人产生加工误差。为了提高机器人修型加工精度,基于指数积公式建立MOTOMAN UP50机器人的误差模型,并推导了基于指数积公式的六轴机器人误差补偿模型以及参数识别方法。通过MOTOMAN UP50机器人实验平台对零部件进行修型加工测量实验,并应用该建立的误差补偿模型验证,实验结果表明,基于指数积公式的误差模型有助于提高机器人修型加工,从而验证了其方法的正确性。For a six-axis robot,due to the lack of flexibility of its own joints and insufficient rigidity of the robotic arm,the positioning accuracy of the end of the robot during the remodeling process is not high,which causes the robot to produce processing errors.In order to improve the machining accuracy of robot repair,it establishes the error model of the MOTOMAN UP50 robot based on the exponential product formula,and derives the error compensation model and parameter identification method of the six-axis robot based on the exponential product formula.The MOTOMAN UP50 robot experiment platform is used to perform repair processing measurement experiments on parts and components,and the established error compensation model is used to verify.The experimental results show that the error model based on the exponential product formula can help improve the robot repair processing,thereby verifying its the correctness of the method.

关 键 词：六轴机器人 指数积公式 参数识别 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]