摘要
为进一步提高机器人末端的定位精度,通过分析机器人反向误差形成机理及影响因素,阐明了多向重复定位误差对误差补偿的影响;针对引起多向重复定位误差因素的多样性和复杂性,提出基于关节闭环反馈的反向误差补偿策略。通过试验验证这种误差补偿策略可有效抑制机器人多向重复定位误差,满足机器人高精度控制要求。
To improve the positioning accuracy of the end effector,this paper illustrates the influence of multi-directional repeated positioning error on the error compensation through analyzing the formation mechanism and influencing factors of the robot’s reverse error. A reverse error compensation strategy based on joint closed-loop feedback is proposed aiming at the diversity and complexity of factors of causing the multi-directional repeated positioning error. The experimental result shows that this strategy can be used to effectively suppress the robot multi-directional repeated positioning error and it meets the requirements of the high-precision control of robots.
作者
孙海龙
田威
焦嘉琛
刘双龙
SUN Hailong;TIAN Wei;JIAO Jiachen;LIU Shuanglong(Chengdu Aircraft Industrial (Group) Co.,Ltd.,Chengdu 610092,China;College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械制造与自动化》
2019年第1期164-167,175,共5页
Machine Building & Automation
基金
国家自然科学基金项目(51475225)
关键词
工业机器人
关节反馈
关节反向误差
多向重复定位误差
定位精度
industrial robot
joint feedback
reverse joint error
multi-directional repeated positioning error
positioning accuracy