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提出一种机器人动态误差在线补偿方法,用以提高机器人的轨迹精度。在机器人参数误差得到离线补偿之后,基于ANFIS构建自适应模糊神经网络轨迹控制器,建立在线补偿系统控制模型,通过ADAMS与Matlab的协同仿真对系统仿真分析;仿真结果验证了所提出方法的可行性。在自主研发制造的六轴工业机器人的平台上,借助于API激光跟踪仪对机器人末端跟踪测量,进行实验分析;实验结果验证了该方法的有效性。
A method of on-line compensation of robot dynamic error is proposed to improve the trajectory accuracy of the robot. After the error of robot parameters is off-line compensated, an adaptive fuzzy neural network trajectory controller is constructed based on ANFIS, the online compensation system control model is established, and the simulation is carried out through the co-simulation of ADAMS and Matlab. The simulation results verify the feasibility of the proposed method . On the platform of independent research and manufacture of six-axis industrial robots, with the aid of API laser tracker, the end-of-robot tracking measurement is carried out experimentally. The experimental results show the effectiveness of the method.