基于改进权函数距离的机器人运动偏差补偿算法设计  

Design of Robot Motion Error Compensation Algorithm Based onImproved Weight Function Distance

作　　者：李晓梅[1] 黄建勇 张泽治 LI Xiaomei;HUANG Jianyong;ZHANG Zezhi(Educational Equipment and Information Technology Center,Qingdao Education Bureau,Qingdao 266071,China;Laoshan District Education and Sports Bureau,Qingdao Education Bureau,Qingdao 266309,China)

机构地区：[1]青岛市教育局教育装备与信息技术中心,山东青岛266071 [2]青岛市教育局崂山区教育和体育局,山东青岛266309

出　　处：《吉林大学学报（信息科学版）》2024年第1期86-92,共7页Journal of Jilin University（Information Science Edition）

基　　金：青岛市社会科学规划研究基金资助项目(QDSKL2001393)。

摘　　要：针对机器人在组装和生产过程中,由于几何参数存在一定误差,使连杆以及关节处等不可避免地出现细微差别,对机器人运动精度产生一定影响问题,提出了基于改进权函数距离的机器人运动偏差补偿算法设计方案。在定位机器人位置前添加扭角,获取机器人两坐标系间转换矩阵,根据线性标定计算机器人运动定位的绝对误差,利用改进权函数建立机器人距离误差数学模型,初步补偿运动误差。计算机器人末端执行器中心点位置和姿态的偏差,将补偿问题转化成机器人运动优化问题,得出运动偏差优化问题目标函数,经多次迭代得出最终补偿结果。实验结果表明,所提方法的误差补偿效果佳,重心补偿后的机器人运行稳定性好。In the process of assembly and production,due to certain errors in geometric parameters,the linkage and joints will inevitably have slight differences,resulting in some errors when the robot operates.In order to reduce the influence of environment on robot motion accuracy,a design scheme of robot motion error compensation algorithm based on improved weight function distance is proposed.The twist angle is added before positioning the robot position to obtain the transformation matrix between the two coordinate systems of the robot.The absolute error of the robot motion positioning is calculated according to the linear calibration.The mathematical model of the robot distance error is established using the improved weight function,and preliminarily compensate the motion error.The deviation of the center point position and attitude of the robot end effector is calculated.The compensation problem is transformed into the robot motion optimization problem,and the objective function of the motion deviation optimization problem is obtained.The final compensation result is obtained through multiple iterations.The experimental results show that the error compensation effect of the proposed method is good,and the motion stability of the robot after center of gravity compensation is good.

关 键 词：改进权函数 机器人 运动偏差 偏差补偿 运动偏差辨识 最小二乘法 极大似然估计法 绝对定位偏差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]