现代制造工程Issue(2)：44-53,10.DOI:10.16731/j.cnki.1671-3133.2025.02.006
基于克里金法的工业机器人定位误差预测补偿
Prediction and compensation of positioning errors in industrial robots based on Kriging method
摘要
Abstract
Aiming at the current situation that the absolute positioning accuracy of industrial robots is not high,a method of Krig-ing prediction of positioning error with comprehensive consideration of geometrical and non-geometrical error influencing factors was proposed.Firstly,a 3D dynamic tracking measurement system was used to measure the position errors of a set of points in the workspace of the industrial robot,and the experimental variational function was constructed from the position error;secondly,the particle swarm algorithm combined with the Kriging method was used for parameter optimization of the experimental variational function to obtain the optimal model and parameters;then,the weight coefficients and Lagrange multipliers were solved by Kriging equation combined with the optimal experimental variational function model,and the Kriging prediction equation was utilized to predict the positioning error;finally,the positioning errors were compensated and the results were veried.Experimental results show that the average absdute positioning error decreased from 1.048 9 mm to 0.178 6 mm,with an increase in accuracy of 82.97％;the root mean square error decreased from 0.393 7 mm to 0.058 5 mm,with an increase in accuracy of 85.14％,verif-ying the efficiency and practicality of this method.关键词
克里金/几何误差/非几何误差/粒子群/误差预测补偿Key words
Kriging/geometric error/non-geometric error/particle swarm/error prediction compensation分类
矿业与冶金引用本文复制引用
史艳琼,戴尔愉,杨永辉..基于克里金法的工业机器人定位误差预测补偿[J].现代制造工程,2025,(2):44-53,10.基金项目
安徽省科技重大专项项目(202203a05020022) （202203a05020022）
安徽建筑大学校引进人才及博士启动基金项目(2019QDZ16) （2019QDZ16）
