【摘要】：考慮到工業(yè)機(jī)器人絕對(duì)定位精度較低,無(wú)法滿足高精度加工的需要,故提出了一種綜合型誤差補(bǔ)償方法。以改進(jìn)的D-H模型為基礎(chǔ),建立機(jī)器人末端工具中心點(diǎn)的距離誤差模型,同時(shí)對(duì)主要受力關(guān)節(jié)2和3由于自重或者外加負(fù)載產(chǎn)生的柔性變形誤差進(jìn)行了研究,建立了柔性誤差模型,最后以激光跟蹤儀作為測(cè)量設(shè)備,利用最小二乘法對(duì)模型進(jìn)行求解,通過(guò)修正控制器參數(shù)補(bǔ)償誤差提高機(jī)器人定位精度。經(jīng)過(guò)補(bǔ)償,自主研發(fā)的機(jī)器人定位精度有明顯的提高,從之前的3.548 mm降至0.939 mm。
[Abstract]:In view of the fact that the absolute positioning accuracy of the industrial robot is low and the need for high-precision machining cannot be met, a comprehensive error compensation method is proposed. based on the improved D-H model, the distance error model of the center point of the end tool of the robot is established, and the flexible deformation error generated by the self-weight or the applied load of the main bearing joints 2 and 3 is researched, a flexible error model is established, Finally, using the laser tracker as the measuring equipment, the model is solved by the least square method, and the positioning accuracy of the robot is improved by correcting the controller parameter compensation error. After compensation, the positioning accuracy of the self-developed robot is obviously improved, and it is reduced to 0.939 mm from the previous 3.548 mm.
【作者單位】： 江南大學(xué)機(jī)械工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(61305016) 江蘇省科技重點(diǎn)支撐計(jì)劃項(xiàng)目(BE2013003-3) 江蘇省高校研究生科研創(chuàng)新項(xiàng)目(KYLX-1116)資助
【分類號(hào)】：TP242

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 陳林;奚如如;王興松;;套索驅(qū)動(dòng)細(xì)長(zhǎng)機(jī)器人的初步設(shè)計(jì)與試驗(yàn)[J];機(jī)電工程;2011年03期

2 謝芝馨;;蘇聯(lián)機(jī)器人技術(shù)述評(píng)[J];機(jī)械與電子;1989年04期

3 羅飛，余達(dá)太;主動(dòng)式控制──機(jī)器人抑振控制的有效方式[J];機(jī)器人;1995年04期

4 盧桂章;當(dāng)前高技術(shù)發(fā)展的前沿——機(jī)器人技術(shù)[J];天津科技;1995年01期

5 蘇陸;日本機(jī)器人技術(shù)與產(chǎn)品[J];全球科技經(jīng)濟(jì)w，

本文編號(hào)：2504190