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工业机器人定位误差补偿方法与实验研究 被引量:3

Research on Method and Experiment of the Industrial Robot Positioning Error Compensation
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摘要 针对工业机器人绝对定位精度低无法满足实际应用要求,并综合考虑国外机器人控制系统不开放,而无法在控制器里修改运动学参数的问题,提出一种定位误差补偿方法,基于修正的DH模型,利用激光跟踪仪和奇异值分解法识别出运动学参数.通过改变运动学参数重新进行正解运算,所得的新位置赋予机器人,使其运动到目标点,从而提高定位精度.将这种方法应用在STAUBLI TX90XL型工业机器人上进行实际的测量和补偿.实验结果显示,经过补偿可使机器人平均绝对定位精度由1.685 mm提高到0.215 mm,从而表明该方法的有效性. The low absolute positioning accuracy of the industrial robot is unable to meet the practical application requirements and the foreign robot control system is not open.A positioning error compensation method will be introduced.Based on the modified DH model,kinematics parameters are identified with laser tracker and singular value decomposition.The direct kinematics is rebuilt by changing the kinematics parameters,and the new position will input robot controller.The method is applied to STAUBLI TX90XL robot.The result shows that the average absolute positioning accuracy changes from 1.685mm to 0.215mm after compensation.So it indicates the method is effective.
出处 《机械与电子》 2012年第7期64-67,共4页 Machinery & Electronics
基金 江苏省科技支撑计划项目(BE2011178)
关键词 工业机器人 绝对定位精度 奇异值分解 激光跟踪仪 industrial robot; absolute positioning accuracy; singular value decomposition; laser tracker;
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