中国机械工程2024，Vol.35Issue(1)：136-143,8.DOI:10.3969/j.issn.1004-132X.2024.01.013
伪目标迭代生成的机器人误差补偿算法
Robot Error Compensation Algorithm by Pseudo Target Iterative Generation
摘要
Abstract
Aiming at the problems of error compensation after robot error modeling,an improved algorithm was proposed based on pseudo target iteration.This algorithm generated a new pseudo tar-get in each iteration to correct the joint angles,thereby continuously reducing the actual errors of the robot.The pseudo target iterative algorithmic process was improved to mature the algorithm flow,5 new and different false target generation methods were proposed,and the characteristics and applica-ble scenarios of each method were analyzed.An ensemble algorithm was proposed combining multiple false target generation methods to further improve the accuracy of error compensation.Using the HSR-JR612 robot to carry out simulation experiments,the simulation results show that the algorithm takes milliseconds and the compensation effectiveness is good,and the integrated algorithm may fur-ther improve the pose compensation effect.Finally,the UR10 robot and the laser tracker were used for experiments.The experimental results show that after compensation,the position errors of the ro-bot end may be reduced to less than 0.06 mm,and the attitude errors may be reduced to less than 0.025°.关键词
机器人/误差补偿/定位精度/伪目标Key words
robot/error compensation/positioning accuracy/pseudo target分类
信息技术与安全科学引用本文复制引用
叶伯生,金雄程,黎晗,邵柏岩,李晓昆,李思澳..伪目标迭代生成的机器人误差补偿算法[J].中国机械工程,2024,35(1):136-143,8.基金项目
湖北省重点研发计划(2021BAA197) （2021BAA197）
