基于机械关节反馈的机器人精度补偿技术
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摘要
工业机器人因其高柔性和低成本而正被越来越多地应用于飞机自动化装配生产线中,但其绝对定位精度差一直是制约其发展的瓶颈。为了进一步提高机器人末端的定位精度,提出了基于机械关节反馈的机器人定位精度补偿方法,该方法通过在机器人的关节处安装绝对式光栅尺,将关节伺服引入到机器人的控制中,来实现机器人关节的闭环控制,从而降低关节误差对末端位置的影响,提高关节的定位精度。试验结果表明,机器人的绝对定位误差由补偿前的最大值1.125mm降低到0.167mm,该方法能够有效地降低机器人的绝对定位误差,实现机器人的高精度控制。
Industrial robots have been increasingly applied to aircraft automation assembly lines due to their high flexibility and low cost, but poor absolute positioning accuracy of industrial robot is the bottleneck that constrains their development. In order to further improve the positioning accuracy of the robot, a positioning accuracy method based on mechanical joint feedback is proposed. This method is applied to control the robot by installing the absolute gratings at the joints and the semi-closed-loop control is established for reducing the effect of the joint error on the position of the end effector and increasing the positioning accuracy of joints. The experimental result shows that the absolute error of the robot is reduced from 1.125 mm to 0.167 mm. This method can effectively improve the absolute positioning accuracy of the robot and realizes the high precision control of the robot.
Industrial robots have been increasingly applied to aircraft automation assembly lines due to their high flexibility and low cost, but poor absolute positioning accuracy of industrial robot is the bottleneck that constrains their development. In order to further improve the positioning accuracy of the robot, a positioning accuracy method based on mechanical joint feedback is proposed. This method is applied to control the robot by installing the absolute gratings at the joints and the semi-closed-loop control is established for reducing the effect of the joint error on the position of the end effector and increasing the positioning accuracy of joints. The experimental result shows that the absolute error of the robot is reduced from 1.125 mm to 0.167 mm. This method can effectively improve the absolute positioning accuracy of the robot and realizes the high precision control of the robot.
引文
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[2]ZHAN Q,WANG X.Hand-eye calibration and positioning for a robot drilling system[J].International Journal of Advanced Manufacturing Technology,2012,61(5-8):691-701.
[3]RATHJEN S,RICHARDSON C.High path accuracy,high process force articulated robot[C]//SAE 2013 Aero Tech Congress and Exhibition.Montreal:SAE International,2013:2291-2295.
[4]彭商贤,方浩天,张平.装配机器人高精度定位补偿系统[J].机器人,1992,14(3):11-16.PENG Shangxian,FANG Haotian,ZHANGPing.High precision system with positioning compensation for assembly robot[J].Robot,1992,14(3):11-16.
[5]VEITSCHEGGER W K,WU C H.Robot calibration and compensation[J].IEEEJournal on Robotics&Automation,1988,4(6):643-656.
[6]JUDD R P,KNASINSKI A B.Atechnique to calibrate industrial robots with experimental verification[J].IEEE Transactions on Robotics&Automation,1990,6(1):20-30.
[7]RENDERS J M,ROSSIGNOL E,BECQUET M,et al.Kinematic calibration and geometrical parameter identification for robots[J].IEEE Transactions on Robotics&Automation,(下转第72页)1991,7(6):721-732.
[8]DUMAS C,CARO S,CHERIF M.Joint stiffness identification of industrial serial robots[J].Robotica,2011,30(4):649-659.
[9]TYAPIN I,KALDESTAD K B,HOVLAND G.Off-line path correction of robotic face milling using static tool force and robot stiffness[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems.Hamburg:Institute of Electrical and Electronics Engineers,2015:5506-5511.
[10]ROTH Z S,MOORING B W,RAVANIB.An overview of robot calibration[J].Information Technology Journal,1987,3(1):377-385.
[11]LI T,SUN K,JIN Y,et al.A novel optimal calibration algorithm on a dexterous6 DOF serial robot-with the optimization of measurement poses number[C]//Proceedings of2011 IEEE International Conference on Robotics and Automation.Hamburg:Institute of Electrical and Electronics Engineers,2011.
[12]洪鹏,田威,梅东棋,等.空间网格化的机器人变参数精度补偿技术[J].机器人,2015(3):327-335.HONG Peng,TIAN Wei,MEI Dongqi,et al.Variable parameter precision compensation technique for robot with space gridding[J].Robot,2015(3):327-335
[13]何晓煦,田威,曾远帆,等.面向飞机装配的机器人定位误差和残差补偿[J].航空学报,2017,38(4):287-297.HE Xiaoxu,TIAN Wei,ZENG Yuanfan,et al.Robot positioning error and residual error compensation for aircraft assembly[J].Acta Aeronautica et Astronautica Sinica,2017,38(4):287-297.
[14]ZENG Y,TIAN W,LI D,et al.An error-similarity-based robot positional accuracy improvement method for a robotic drilling and riveting system[J].International Journal of Advanced Manufacturing Technology,2017,88(9-12):1-11.
[15]LOPHAVEN S N,NIELSEN H B,SONDERGAARD J.DACE-a matlab kriging toolbox,version 2.0:informatics and mathematical modelling[D].Copenhagen:Technical University of Denmark,2002.
[16]JOHNSON M E,YLVISAKER D.Design and analysis of computer experiments:comment[J].Statistical Science,1989,4(4):428.
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