机器人铣削加工误差在线补偿方法研究

Research on Online Compensation Method for Robot Milling Errors

针对机器人在铣削加工过程中由于精度低和刚度弱导致加工误差大的问题,提出一种可以同时考虑定位误差与变形误差的加工误差在线补偿方法。首先,基于几何参数标定法进行机器人定位误差建模,并基于机器人刚度矩阵模型进行变形误差建模;然后,基于上述模型和在线测量的切削力,建立加工误差在线预测模型;接着,提出基于自校正增量式PID控制的误差补偿方法,对铣削加工误差进行在线闭环补偿;最后,经铣削加工实验验证补偿方法的有效性。

In order to solve the problem of large machining error caused by low precision and weak stiffness in robot milling,an on-line machining error compensation method considering both positioning error and deformation error in robot milling process is proposed. Firstly, the robot positioning error model is established based on the geometric parameter calibration method, and the deformation error model is established based on the robot stiffness matrix model;Then, based on the above model and the on-line measurement of cutting force, the on-line prediction model of machining error is established;Then, an error compensation method based on self-tuning incremental PID control is proposed to compensate the milling error on-line and closed-loop;Finally, milling experiments are carried out to prove the effectiveness of the compensation method.