考虑关节柔性误差的机器人参数辨识方法研究

齐飞; 平雪良; 刘洁; 蒋毅

doi:10.13433/j.cnki.1003-8728.2017.0404

考虑关节柔性误差的机器人参数辨识方法研究

doi: 10.13433/j.cnki.1003-8728.2017.0404

1.
江南大学机械工程学院, 江苏无锡 214122

基金项目:

国家自然科学基金项目（61305016）、江苏省科技重点支撑计划项目（BE2013003-3）及江苏省高校研究生科研创新项目（KYLX-1116）资助

详细信息

作者简介:
齐飞(1990-),硕士研究生,研究方向为工业机器人标定技术,qifei224@163.com

通讯作者:
平雪良(联系人),教授,博士,硕士生导师,ping@jiangnan.edu.cn

计量
- 文章访问数: 208
- HTML全文浏览量: 29
- PDF下载量: 8
- 被引次数: 0
出版历程
- 收稿日期: 2015-10-20
- 刊出日期: 2017-04-05

A Robot's Parameter Identification Method with Joint Flexible Errors taken into Account

1.
School of Mechanical Engineering, Jiangnan University, Jiangsu Wuxi 214122, China

摘要

摘要: 考虑到工业机器人绝对定位精度较低，无法满足高精度加工的需要，故提出了一种综合型误差补偿方法。以改进的D-H模型为基础，建立机器人末端工具中心点的距离误差模型，同时对主要受力关节2和3由于自重或者外加负载产生的柔性变形误差进行了研究，建立了柔性误差模型，最后以激光跟踪仪作为测量设备，利用最小二乘法对模型进行求解，通过修正控制器参数补偿误差提高机器人定位精度。经过补偿，自主研发的机器人定位精度有明显的提高，从之前的3.548 mm降至0.939 mm。
- 机器人 /
- 柔性误差 /
- 参数辨识 /
- 补偿
Abstract: Because of its lower absolute positioning, an industrial robot is unable to meet the needs of high-precision processing, so this paper puts forward an integrated error compensation method. The error model of a tool's central points based on distance accuracy is developed by the modified Denavit-Hartenberg model. Meanwhile, this paper studies the positioning error of the stressful joints 2 and 3, which is caused by the robot's gravity and external load; then it establishes the flexible error model. Finally, a laser tracker is used as the measurement equipment, and the error model is solved by the least squares method. The positioning error of the robot is compensated for by updating the parameters of its controller to improve the positioning accuracy. After the compensation, the mean positioning accuracy of the robot is significantly improved, which previously is 3.548 mm to 0.939 mm.
- robots /
- flexible error /
- parameter identification /
- compensation

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参考文献(14)

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