摘要
工业机器人在安装过程中由于场地限制和人为等因素会产生一定的误差,导致工业机器人的实际运动与理论运动学分析有所不同.为保证工业机器人的作业精准性,结合实际运动参数和理论运动学分析建立实际运动学分析,并用于工业机器人的现场校准,以满足工业应用中的机器人精度要求.实验结果表明,所提方法具有较好的校准性能,能满足校准要求,有助于提高生产效率.
During the installation process of industrial robots,there may occur certain errors due to site limitations and human factors,resulting in differences between the actual motion of industrial robots and the theoretical kinematic analysis of them.In order to ensure the accuracy of industrial robot operations,practical kinematic analysis is established based on actual motion parameters and theoretical kinematic analysis,which is used for on-site calibration of industrial robots to meet the accuracy requirements of robots in industrial applications.The experimental results show that the proposed method shows good calibration performance,meets calibration requirements,and is conducive to raising productivity.
作者
陈旸
高凤强
CHEN Yang;GAO Fengqiang(Zhangzhou Institute of Technology,Intelligent Manufacturing College,Zhangzhou 363000;Xiamen University Tan Kah Kee College,Zhangzhou 363105,China)
出处
《常熟理工学院学报》
2024年第5期67-72,共6页
Journal of Changshu Institute of Technology
基金
2023年福建省自然科学基金项目(青年创新项目)“高速长寿命滚珠直线导轨自适应定向润滑机理研究”(2023J01248)。
关键词
运动学分析
工业机器人校准
绝对定位精度
kinematic model
calibration of industrial robots
absolute positioning accuracy
