面向飞机装配的机器人定位误差和残差补偿

发布时间：2018-03-06 14:21

本文选题：飞机装配　切入点：精度补偿　出处：《航空学报》2017年04期 　论文类型：期刊论文

【摘要】：工业机器人由于其高柔性和低成本而被越来越多地应用到飞机自动钻铆系统中,使用精度补偿有效地提高机器人的绝对定位精度是保证产品质量的关键,为进一步提高机器人末端定位精度,提出了基于误差相似度的残差补偿方法。首先使用基于运动学参数标定的方法辨识出机器人的几何参数误差,再利用基于误差相似度的方法对残余误差进行估计,实现对机器人的误差和残差的补偿。以工业机器人KUKA KR-30 HA为对象所进行的试验验证表明,机器人的绝对定位精度平均值由补偿前的0.879mm经过定位误差补偿后提高到0.194mm,经过残差补偿后进一步提高到0.141mm,经过定位误差和残差补偿后的机器人最大误差由1.492mm降低为0.296mm,最大绝对定位精度误差降低了80.16%。该方法能有效地补偿参数辨识后遗留的残差,进一步提高机器人的定位精度。
[Abstract]:Because of its high flexibility and low cost, industrial robot is more and more used in aircraft automatic drilling and riveting system. Using precision compensation to effectively improve the absolute positioning accuracy of robot is the key to ensure product quality. In order to further improve the accuracy of robot terminal positioning, a residual error compensation method based on error similarity is proposed. Firstly, the geometric parameter error of robot is identified by the method based on kinematics parameter calibration. Then the residual error is estimated by using the method of error similarity, and the error and residual compensation of the robot is realized. The experimental results of industrial robot KUKA KR-30 HA show that, The average absolute positioning accuracy of the robot was increased from 0.879 mm before compensation to 0.194 mm after compensation, and further to 0.141 mm after residual compensation. The maximum error of robot after compensation of positioning error and residual error was reduced from 1.492 mm to 0.194 mm. The maximum absolute positioning accuracy error is reduced by 80.16 mm. This method can effectively compensate the residual error after parameter identification. Further improve the positioning accuracy of the robot.
【作者单位】：南京航空航天大学机电学院;
【基金】：国家自然科学基金(51475225,51575273) 国家高档数控机床与基础制造装备(2014ZX04001071)~~
【分类号】：V262.4;TP242.2

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