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工业机器人由于其高柔性和低成本而被越来越多地应用到飞机自动钻铆系统中,使用精度补偿有效地提高机器人的绝对定位精度是保证产品质量的关键,为进一步提高机器人末端定位精度,提出了基于误差相似度的残差补偿方法。首先使用基于运动学参数标定的方法辨识出机器人的几何参数误差,再利用基于误差相似度的方法对残余误差进行估计,实现对机器人的误差和残差的补偿。以工业机器人KUKA KR-30 HA为对象所进行的试验验证表明,机器人的绝对定位精度平均值由补偿前的0.879mm经过定位误差补偿后提高到0.194mm,经过残差补偿后进一步提高到0.141mm,经过定位误差和残差补偿后的机器人最大误差由1.492mm降低为0.296mm,最大绝对定位精度误差降低了80.16%。该方法能有效地补偿参数辨识后遗留的残差,进一步提高机器人的定位精度。
Due to its high flexibility and low cost, industrial robots are more and more applied to aircraft automatic riveting system. The use of precision compensation to improve the robot’s absolute positioning accuracy is the key to ensure product quality. In order to further improve the accuracy of robot end positioning , A residual error compensation method based on error similarity is proposed. Firstly, the geometric parameter error of the robot is identified by the method based on the kinematic parameter calibration, and then the residual error is estimated by using the error similarity method to realize the compensation of the robot error and the residual error. Tests conducted on industrial robots KUKA KR-30 HA show that the average robot absolute positioning accuracy is increased from 0.879mm before compensation to 0.194mm after positioning error compensation, and further increased to 0.141mm after residual compensation , The maximum error of the robot after positioning error and residual error is reduced from 1.492mm to 0.296mm, the maximum absolute positioning accuracy error is reduced by 80.16%. The method can effectively compensate the residuals after parameter identification and further improve the positioning accuracy of the robot.