摘要
针对工业机器人重复精度高、定位精度差的特点,提出一种改进其绝对定位精度的方法。根据D-H坐标系的相关理论,综合考虑机器人各关节的误差,运用五参数法建立机器人的完整几何误差模型。基于误差模型,提出机器人位姿补偿的多次迭代算法,实验结果显示工业机器人的绝对定位误差由未补偿的25 mm变为补偿后的0.3 mm,从而证明该方法的有效性。
A new method to improve the absolute precision of the industrial robot will be introduced. The error modeling method is based on the D-H theory and the error source is considered as five parameters which affects the precision. It applies to the situation that the errors are large and coupled. The compensating method is based on the error model. A result with any precision level could be given if the error model is precise enough. The experiment shows that the position precision has dropped from 25 mm to 0.3 mm after calibration.
出处
《机械与电子》
2011年第2期77-80,共4页
Machinery & Electronics
关键词
工业机器人
定位精度
误差
补偿
industrial robot
calibration
difference
compensation
