直驱机器人的标定分析

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262389

C. Kozakiewicz, T. Ogiso, N. Miyake

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引用次数: 7

摘要

提出了一种基于软件的SCARA装配机器人定位标定方法，以减小机械臂在力载荷和力矩载荷作用下的静挠度所引起的定位误差。建立了机器人刚度模型，利用该模型计算关节角的微分修正，并将其应用于理想机器人模型的运动学逆解中，以补偿静态挠度误差。最小二乘多项式近似和神经网络用于存储关节校正值和插值。校准方法的计算机模拟表明，校准区域的平均定位误差从0.43 mm减少到0.03 mm，误差范围从+或0.35 mm到+或0.10 mm。

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Calibration analysis of a direct drive robot

A software-based calibration method is developed to decrease the positioning errors of a SCARA assembly robot caused by static deflection of the robot arm under force and moment load. A robot stiffness model is constructed and used to calculate differential joint angle corrections which are then applied to the inverse kinematic solution of the ideal robot model to compensate for the static deflection errors. Least squares polynomial approximation and a neural network are used for storing the joint correction values and for interpolation. A computer simulation of the calibration method demonstrated a decrease in the average positioning error from 0.43 mm to 0.03 mm and in the range of error from +or-0.35 mm to +or-0.10 mm in the calibrated area.<>

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来源期刊

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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