工业机器人柔性关节轨迹跟踪误差自动化校正  

Automated Correction of Trajectory Tracking Errors in Flexible Joints of Industrial Robots

作　　者：李业刚 LI Yegang(Department of Mechanical and Electrical Engineering,Suzhou Vocational and Technical College,Suzhou 234000,China)

机构地区：[1]宿州职业技术学院机电工程系,安徽宿州234000

出　　处：《太原学院学报（自然科学版）》2024年第4期30-37,共8页Journal of TaiYuan University:Natural Science Edition

基　　金：安徽省高校自然科学研究项目(KJ2021A1379)。

摘　　要：常规的轨迹跟踪误差自动化校正,主要采用分析干扰变量进行误差校正,忽略了柔性关节姿态角对约束参量的影响,导致误差校正值结果较小。因此,提出工业机器人柔性关节轨迹跟踪误差自动化校正研究。建立工业机器人运动学模型,通过工业机器人柔性关节的仰俯角和横滚角综合计算姿态角,进而得出柔性关节的约束参量,计算校正系数完成连续性的轨迹跟踪自动化校正。实验结果表明:所提方法应用后得出的误差校正值结果较大,均值为0.2 rad,校正效果较优,满足工业机器人的现实应用需求。The conventional automated correction of trajectory tracking errors mainly relies on analyzing interference variables for error correction,ignoring the influence of flexible joint attitude angles on constraint parameters,resulting in smaller error correction values.Therefore,a method of automated correction of trajectory tracking errors in flexible joints of industrial robots is proposed.A kinematic model of an industrial robot is established,and the attitude angle is obtained by comprehensively calculating the pitch angle and roll angle of the flexible joints of the industrial robot;on this basis,the constraint parameters of the flexible joints are obtained and the correction coefficient is calculated to complete continuous automated correction of trajectory tracking.The experimental results show that the error correction values obtained by the proposed method after application are relatively large,with a mean of 0.2 rad.The correction effect is excellent and meets the practical application needs of industrial robots.

关 键 词：工业机器人 机器人柔性关节 关节轨迹 轨迹跟踪 误差校正 自动化校正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]