机械科学与技术2017，Vol.36Issue(4)：512-518,7.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
A Robot's Parameter Identification Method with Joint Flexible Errors taken into Account
摘要
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.关键词
机器人/柔性误差/参数辨识/补偿Key words
robots/flexible error/parameter identification/compensation分类
信息技术与安全科学引用本文复制引用
齐飞,平雪良,刘洁,蒋毅..考虑关节柔性误差的机器人参数辨识方法研究[J].机械科学与技术,2017,36(4):512-518,7.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 （61305016）
