Two-step Error Compensation Method for Improving Absolute Positioning Accuracy of Industrial Robots
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摘要: 针对大部分工业机器人结构需要满足Pieper准则无法直接补偿所有运动学参数误差的问题，提出一种两步误差补偿方法。首先，基于修正的D-H法和微分运动学建立机器人定位误差模型，建立机器人末端绝对定位误差与运动学参数误差之间的表达式；其次，利用最小二乘法迭代求解出运动学参数误差，并将可直接补偿的运动学参数误差直接补偿到机器人D-H配置参数中，将剩余的其它运动学参数误差转换为关节转角补偿值进行间接补偿；最后，搭建实验平台，在川崎RS010NA六自由度工业机器人上进行两步误差补偿实验验证。实验结果表明，通过两步误差补偿后机器人末端平均绝对定位误差由5.419 4 mm下降到1.160 5 mm，平均绝对定位精度提高约80%，该方法有效地提高了机器人的绝对定位精度。Abstract: A two-step error compensation method is proposed for the problem that most industrial robot structures need to meet the Pieper criterion and cannot directly compensate all kinematic parameter errors. Firstly, based on the modified D-H method and differential kinematics, the robot positioning error model is established, and the expression between the absolute positioning error of the robot terminal and the kinematic parameter error is obtained. Secondly, the least squares iteration method is used to calculate the kinematic parameter errors, and some kinematic parameter errors which have no influence on the inverse kinematics solution of the robot are directly compensated to the robot D-H configuration parameters, and the remaining kinematic parameter errors are converted into the offset values of joint angles for indirect compensation. Finally, the experimental platform is built and the two-step error compensation experiment is carried out on the Kawasaki RS010NA six degrees of freedom industrial robot. The experimental result indicates that the average absolute positioning error of the robot terminal is decreased from 5.4194mm to 1.1605mm, which means the average absolute positioning accuracy is improved by about 80%. The proposed method can effectively improve the robot absolute positioning accuracy.
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表 1 机器人D-H参数
序号 θi/(°) αi/(°) ai/mm di/mm 1 0 -90 100 0 2 -90 0 650 0 3 0 -90 0 0 4 0 90 0 700 5 90 -90 0 0 6 0 0 0 0 
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表 2 预设的几何参数误差值
序号 Δθi/(°) Δdi/mm Δai/mm Δαi/(°) Δβi/(°) 1 -0.05 0.25 0.56 0.01 2 0.02 0.43 0.74 0.03 0.11 3 0.14 0.11 0.89 0.015 4 0.28 0.64 0.60 0.11 5 0.30 0.16 0.52 0.32 6 0.12 0.14 0.27 0.13
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表 3 机器人运动学参数误差辨识结果
序号 θ/(°) d/mm a/mm α/(°) β/(°) 1 -0.014 6 -0.056 7 -0.433 6 -0.045 0 2 0.043 5 - 0.493 8 -0.029 7 -0.011 1 3 0.381 8 0.055 5 0.592 9 0.076 6 4 -0.136 7 -0.239 6 -0.414 6 -0.012 3 5 -0.933 4 -0.033 0 0.155 0 -0.049 6 6 0.194 1 -0.509 6 - -0.032 3
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表 4 标定点补偿前后的绝对定位误差
序号 补偿前平均实际位置误差/mm 补偿后平均实际位置误差/mm APx APy APz APp APx APy APz APp P1 0.427 8 -0.254 1 -5.283 1 5.306 5 -0.454 2 0.516 8 0.505 6 0.853 8 P2 3.773 7 0.556 2 -5.843 4 6.978 2 -0.791 9 -0.926 1 0.237 0 1.241 4 P3 4.019 1 -0.441 0 -6.868 8 7.970 4 -1.162 7 0.275 3 -0.783 8 1.429 0 P4 -0.875 7 0.118 5 -4.108 0 4.202 0 -0.764 5 0.783 8 -0.124 4 1.101 9 P5 -0.996 9 -0.883 0 -2.279 6 2.640 1 -0.690 4 -0.557 5 0.772 6 1.176 6
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