KUKA工业机器人位姿测量与在线误差补偿

发布时间：2018-02-01 08:43

本文关键词： 工业机器人位姿精度激光跟踪仪在线误差补偿　出处：《机械工程学报》2017年08期 　论文类型：期刊论文

【摘要】：工业机器人因其良好的重复定位精度而被广泛应用于堆垛、搬运、焊接等工业领域,但其绝对定位精度低,限制了其在高精度制造领域的应用。通过构建工业机器人误差测量与在线补偿闭环控制系统,对工业机器人的误差进行在线补偿。该方法综合考虑了几何参数和非几何参数引起的误差,提高了其位姿精度。研究基于KUKA机器人传感器接口(Robot sensor interface,RSI)进行位姿误差补偿的性能。通过研究KUKA机器人末端姿态的表示方式,提出一种基于激光跟踪仪测量工业机器人末端姿态的方法,并设计试验研究机器人在其工作空间的位姿误差特点。对搭建的闭环控制系统进行位姿误差补偿试验验证了该系统的位姿补偿效果。试验结果表明,经过第二次在线误差补偿后,其绝对定位精度由原先的0.628 mm提升到0.087 mm,姿态精度接近0.01°。
[Abstract]:Industrial robot is widely used in stacking, handling, welding and other industrial fields because of its good precision of repeated positioning, but its absolute positioning accuracy is low. The closed-loop control system for error measurement and on-line compensation of industrial robot is constructed by limiting its application in the field of high-precision manufacturing. The error of industrial robot is compensated on line, and the error caused by geometric parameter and non-geometric parameter is considered in this method. The precision of position and pose is improved. The research is based on KUKA robot sensor interface and robot sensor interface. By studying the expression of the terminal attitude of KUKA robot, a method based on laser tracker to measure the terminal attitude of industrial robot is proposed. And design experiments to study the robot position and attitude error characteristics in its workspace. The closed-loop control system of the position and attitude error compensation test to verify the effectiveness of the system position and attitude compensation. The experimental results show that. After the second online error compensation, the absolute positioning accuracy is raised from 0.628 mm to 0.087 mm, and the attitude accuracy is close to 0.01 掳.
【作者单位】：天津大学精密测试技术及仪器国家重点实验室;国网河北省电力公司;
【基金】：国家自然科学基金(51275350) 天津市科技兴海计划(KJXH2014-08)资助项目
【分类号】：TP242.2
【正文快照】： 0前言* 工业机器人由于其较低的价格、高柔性以及较大的工作空间[1],越来越多地应用于工业领域。但由于其位姿精度不高,限制了其在制造领域中高精度场合的进一步推广和应用。机器人具有高的重复定位精度,但绝对定位精度较低,且随着机器人长时间的使用以及磨损,其绝对定位精

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