摘要
介绍了一种采用高精度测量机器人检测工业机器人末端误差,得到空间几何误差网格,建立空间误差数据库,工业机器人在其工作空间内工作时自动调用误差数据库的补偿值直接进行误差补偿的方法。不考虑机器人复杂的物理结构,不追溯误差源,将机器人视为一个黑箱结构,采用空间插值的方法直接进行误差补偿。
A error compensation method for industrial robots was presented, for which the high-precision measuring robot is used to detect the error of industrial robots end, acquire space geometry error grid by geometric grid space and establish a space error database, by calling the compensation value in the space error database, the direct error compensation of industrial robots in their work space is realized. The presented method need not consider the complex physical structure of robots and track back the source of error, it takes the robot as a black-box structure and uses the spatial interpolation method to make error compensation directly.
出处
《机床与液压》
北大核心
2008年第11期15-17,共3页
Machine Tool & Hydraulics
基金
河南高校新世纪优秀人才支持计划资助项目(2006HANCET-16)
河南理工大学青年骨干教师项目(649035)
关键词
数据库
工业机器人
误差补偿
测量机器人
Datebase
Industrial robot
Error compensation
Measuring robot
