基于非线性残差补偿的工业机器人标定

Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering Pub Date : 2019-07-19 DOI:10.1145/3351917.3351969

Gang Zhao, Pengfei Zhang, W. Xiao

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引用次数: 0

摘要

本文利用FARO激光跟踪仪的测量结果，研究了六自由度串联工业机器人的非线性定位误差。设计了一个实验，在不同的末端执行器外载荷作用下，对机器人各关节分别进行正向和反向旋转。在机器人各关节旋转过程中测量固定在机器人连杆上的镜球，得到关节坐标。然后，根据不同的运动方向和不同的外载荷，计算各关节的定位误差;此外，通过从总误差中减去参数部分得到非线性残差。根据实验结果和对机器人结构的分析，认为齿轮间隙和关节刚度是非线性残余误差的主要来源。最后，分别通过辨识非线性误差参数和优化机器人运动路径，提出了两种不同的补偿策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Calibration of Industrial Robot Through Compensation of The Nonlinear Residual Errors

In this paper, the nonlinear positioning errors of a serial industrial robot with six degrees of freedom(6-DOF) are studied using measurements from a FARO laser tracker. An experiment is designed to rotate each robot joint respectively both in forward and reverse directions with different external payloads on the end-effector. The mirror ball fixed on robot links is measured during rotating each joint to obtain the joint coordinates. Then, the positioning errors of each joint are calculated in terms of different movement directions and different external payloads. In addition, the nonlinear residual errors are obtained by subtracting the parametric parts from the total errors. According to experimental results and analysis of robot structures, the gear backlash and joint stiffness are regarded as the main sources of the nonlinear residual errors. Finally, two different compensation strategies are proposed by identifying the nonlinear error parameters and optimizing robot motion path respectively.

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Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering

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