考虑弹性变形的机械臂末端位姿误差补偿技术研究  

Research on Compensation Technology for Pose Error of Robotic Arm End Considering Elastic Deformation

作　　者：赵亮培[1] ZHAO Liangpei(Dept.of Intelligent manufacturing,Laiwu Vocational and Technical College,Jinan 271199,China)

机构地区：[1]莱芜职业技术学院智能制造系,山东济南271199

出　　处：《常熟理工学院学报》2024年第5期103-109,共7页Journal of Changshu Institute of Technology

基　　金：山东省职业教育教学改革研究一般资助项目“‘四维互融,分层递进’现代学徒制人才培养模式的探索与实践”(2019119)。

摘　　要：常规的机械臂末端位姿误差补偿技术主要采用求解位置参数实现位姿误差补偿,忽略了机械臂自身弹性变形对误差补偿的影响,导致补偿结果精度较低.因此,提出考虑弹性变形的机械臂末端位姿误差补偿技术研究.构建以四参数定义为基础的机械臂末端运动学建模,在此基础上,基于抗拉强度等参数分析机械臂连杆、关节以及末端三个部位的弹性变形误差量,建立机械臂原点坐标系对位姿参数进行辨识,综合弹性变形情况计算位姿误差补偿值.实验结果表明:所提技术应用后得出的误差补偿结果表现出的标定轨迹重复度较高,补偿结果精度较高,满足了机械臂的实际应用精度需求.Conventional techniques for compensating pose errors at the end of a robotic arm mainly rely on solving position parameters to achieve pose error compensation,which,ignoring the impact of the arm's own elastic deformation on error compensation,results in low compensation accuracy.Therefore,a study on compensation technology for end pose error of robotic arms considering elastic deformation is proposed:building a kinematic modeling of the end effector of a robotic arm based on the definition of four parameters.Based on this,the elastic deformation errors of the connecting rod,joint,and end effector of the robotic arm are analyzed based on parameters such as tensile strength;the origin coordinate system of the robotic arm is established to identify the pose parameters,and;the pose error compensation value is calculated based on the elastic deformation situation.The experimental results show that the error compensation results obtained after the application of the proposed technology exhibit high repeatability of the calibration trajectory and high accuracy of the compensation results,meeting the practical application accuracy requirements of the robotic arm.

关 键 词：机械臂 机械臂末端 机械臂位姿 弹性变形 位姿误差 误差补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]