论文部分内容阅读
研究了机器人各轴运动角度误差的测量与控制补偿技术.讨论了各因素对运动角度误差影响的显著性,独立分析了电机运动控制误差和关节连杆变形误差模型.设计了双轴正交惯性测量方案,通过预先测量机器人各轴运动范围回转角度误差,得到机器人运动空间几何误差分布,基于多元统计学分析确立了不同因素对运动角度误差的影响系数,基于正交多项式拟合建立了各轴定位误差分布模型,在机器人运行前利用该模型计算误差补偿量,控制机器人进行定位补偿.同时,对所提出的机器人各轴运动误差分布规律和正交多项式拟合方法进行了分析,并使用激光跟踪仪测量验证了机器人末端定位精度的补偿效果.研究结果表明,通过对机器人自身性能的研究和补偿可以提高机器人控制精度.
The measurement and control compensation of the movement angle error of each axis of the robot are studied.The significance of each factor on the motion angle error is discussed and the motor motion control error and the joint link deformation error model are analyzed separately.The biaxial orthogonal inertia Based on the multivariate statistical analysis, the influence coefficients of different factors on the motion angle error are established. Based on the orthogonal polynomial fitting, the geometrical error distributions of the axes of the robot are established. The model of error distribution was used to calculate the error compensation before robot running and the robot was controlled for position compensation.At the same time, the distribution of motion errors and the orthogonal polynomial fitting method were analyzed and the laser The tracker measurement verifies the compensation effect of robot end positioning accuracy.The results show that the robot control accuracy can be improved by researching and compensating the robot’s own performance.