工业打磨机器人机械臂运动偏离距离预补偿算法  

Industrial robot manipulator motion deviation distance pre-compensation algorithm

作　　者：邹涛 黄敬然 项超群 张建辉[1] ZOU Tao;HUANG Jing-ran;XIANG Chao-qun;ZHANG Jian-hui(School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China)

机构地区：[1]广州大学机械与电气工程学院,广东广州510006

出　　处：《广州大学学报（自然科学版）》2024年第4期1-8,共8页Journal of Guangzhou University:Natural Science Edition

基　　金：广州市室校联合实验室资助项目(2023A03J0120)。

摘　　要：随着机器人技术的普及,其在生活、工业和服务领域的应用广泛增加。在实际应用中,机器人执行加工作业任务时常受外部因素或系统误差影响,导致运动轨迹偏离预期路径,影响任务完成效果。文章旨在研究工业打磨机器人机械臂运动过程中因误差与物理因素偏离原定轨迹的问题,重点关注优化机械臂运动偏离距离补偿。研究包括使用局部加权法调整偏离距离,降低测量误差影响,同时提出物理影响函数,考虑转动惯量、动摩擦及离心力等物理条件因子对偏离距离影响。研究结果显示,打磨机器人机械臂加工圆角倒角时,偏离距离预补偿算法使偏离距离误差从初始未修正的约0.22~0.83 mm减少至0.02~0.34 mm,且偏离浮动幅度减少了约52.46%,对提高打磨机器人工作效率和减少偏离误差具有重要意义。As robot technology becomes more widespread,its applications in various fields such as daily life,industry,and services have significantly increased.In practical scenarios,robots perform-ing machining tasks are often influenced by external factors or system errors,leading to deviations from the intended path and affecting task completion.This paper aims to investigate the problem of deviations from the intended trajectory during the motion of robot manipulators,with a focus on opti-mizing compensation for the deviation distance.The research involves the use of a locally weighted method to adjust the deviation distance,reducing the impact of measurement errors.Additionally,a physical impact function is proposed,considering physical factors such as moment of inertia,dynamic friction,and centrifugal force on the deviation distance.The research findings indicate that when ro-bot manipulators are chamfering corners,the pre-compensation algorithm for deviation distance re-duces the deviation distance error from an initial uncorrected range of approximately 0.22 mm to 0.83 mm to a range of 0.02 mm to 0.34 mm,with a reduction in deviation fluctuation of about 52.46%.This is significant for improving work efficiency and reducing deviation errors.

关 键 词：偏离距离 局部加权法 物理影响函数 距离误差补偿 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]