双臂工业机器人协作定位精度姿态误差校正

Collaborative Positioning Accuracy Attitude Error Correction for Dual-Arm Industrial Robots

为提高机械臂在货物交接时对多种控制状态的适应能力,设计了一种双臂工业机器人协作定位精度姿态误差校正方法,以达到械臂运动参数校准的目的。建立了机械臂残余姿态误差数学模型,精确地对机械臂残余定位误差进行计算。研究结果表明:运动特性曲线呈现平滑分布的特点,加速度突变程度很小,表明该系统能够满足工况作业要求。姿态误差有效补偿能够更精确完成两臂协同定位,从而准确识别手臂基座标变换参数。本研究有助于提高双臂工业机器人协作动作效率,为后续的参数优化奠定一定的理论基础。

In order to improve the adaptability of the robotic arm to multiple control states during cargo handover,a two-arm industrial robot collaborative positioning accuracy attitude error correction method is designed to achieve the purpose of robotic arm motion parameter calibration.A mathematical model of the residual attitude error of the robotic arm is established to accurately calculate the residual positioning error of the robotic arm.The results of the study show that the motion characteristic curve presents the characteristics of smooth distribution,and the degree of sudden change in acceleration is small,indicating that the system can meet the requirements of working conditions.The effective compensation of attitude error can more accurately complete the cooperative positioning of the two arms,and thus accurately identify the parameters of the arm base coordinate transformation.This study helps to improve the efficiency of the collaborative action of the two-armed industrial robot and lays a certain theoretical foundation for the subsequent parameter optimisation.