基于空间插值的工业机器人精度补偿方法理论与试验

Theory and Experiment of Industrial Robot Accuracy Compensation Method Based on Spatial Interpolation

伴随着工业生产机器人技术性的飞速发展,机器人在制造业方面的运用愈来愈普遍。对于机器人反复定位精度高、肯定定位精度低的特性,提出一种提升其肯定定位精度的方式。根据D-H动力学实体模型,创建机器人平面坐标,充分考虑机器人骨关节主要参数引进的误差,创建机器人位姿误差实体模型。运用该误差实体模型,根据剖析邻近二点间精准定位误差的相互关系,解释了精准定位误差相似之处的定义,并提出了一种根据室内空间插值法的工业生产机器人精度补偿方式。库卡机器人用以认证所提出的精度补偿方式。试验结果显示,机器人补偿前的定位精度为13 mm,补偿后的绝对定位误差最高值为0.386 mm,均值为0.156 mm,比补偿前提升了近一个量级,证实了该方式的必要性和实效性。

Along with the rapid development of industrial production robot technology, the use of robots in manufacturing industry is becoming more and more common. For the characteristics of robot’s high accuracy of repeated positioning and low accuracy of sure positioning, a way to improve its sure positioning accuracy is proposed. Based on the D-H dynamics solid model, the robot plane coordinates are created, and the error introduced by the main parameters of the robot bone joint is fully considered to create a solid model of the robot’s positional error. Using this error entity model, the definition of the similarity of the positive positioning error is explained based on the analysis of the interrelationship of the positive positioning error between neighboring two points, and a way of compensating the accuracy of industrial production robots based on the indoor spatial interpolation method is proposed. KUKA Robotics was used to certify the proposed accuracy compensation method. The test results show that the positioning accuracy of the robot before compensation is 13 mm, and the highest value of absolute positioning error after compensation is 0.386 mm and the average value is 0.156 mm, which is nearly an order of magnitude higher than that before compensation, confirming the necessity and effectiveness of the method.