基于误差指标的工业机器人铣削冗余角优化

Redundant Angle Optimization in Industrial Robotic Milling Based on the Error Index

针对工业机器人三轴铣削中的低刚度问题,对机器人末端刚度进行数学建模,计算误差指标并研究该指标与冗余角的函数关系。绘制误差指标与冗余角的关系图谱,对给定刀路上的冗余角进行优化,生成误差较小的机器人运动轨迹。实验比较优化前后的铣削中机器人末端位移程度,验证了提出的冗余轴优化方法的有效性。

In order to solve the problem of low stiffness in three-axis milling of industrial robot,the end stiffness of the robot is modeled,the error index is calculated and the function relationship between the index and the redundant angle is studied.The graph of the relationship between the error index and the redundant angle is drawn,and the redundant angle of the given tool path is optimized to generate the robot trajectory with small error.The experiment compares the displacement degree of the robot’s end before and after optimization,and verifies the effectiveness of the proposed redundant axis optimization method.