摘要
工业机器人的加工精度对其性能产生至关重要的影响。在处理精度补偿算法时,通常会面临收敛精度差和陷入局部最优解的困境。为了应对这些挑战,提出了一种基于Lévy飞行策略优化孔雀算法(LB-POA)的工业机器人精度补偿方法。这一方法引入了Lévy飞行策略,以帮助算法在陷入局部最优解时能够快速跳出,进一步提高孔雀优化算法的计算速度和极值精度。此外采用正交阵列采样对所有维度用投影进行分层,从而以更少的采样点达到更高的补偿精度。在研究中,利用Leika-AT930激光跟踪器测量了机器人末端执行器的位置,并使用EFORT ECR5机器人进行了一系列对比实验。与传统的POA算法相比,LB-POA算法的平均补偿精度从0.3033 mm降低到0.2000 mm。实验结果清晰表明,LB-POA算法不仅在补偿精度方面表现出色,而且在运行效率方面也具备显著的优势。
The machining accuracy of industrial robots has a crucial impact on their performance.Accuracy compensation algorithms usually suffer from poor convergence accuracy and local optimal solutions traps.To address these challenges,this study proposes an industrial robot accuracy compensation method based on the Lévy flight strategy optimised peacock algorithm(LB-POA).This method introduces the Lévy flight strategy to help the algorithm to be able to jump out quickly when it falls into a local optimal solution,which further boosts the computational speed and extreme value accuracy of the peacock optimisation algorithm(POA).In addition,orthogonal array sampling stratifies all dimensions with projections,resulting in fewer sampling points and achieving higher compensation accuracy.In the study,the position of the robots end-effector was measured using a Leika-AT930 laser tracker and a series of comparative experiments were conducted using an EFORT ECR5 robot.The mean compensation error was reduced from 0.3033 mm to 0.2000 mm compared to the conventional POA algorithm.The experimental results clearly show that the LB-POA algorithm delivers superior compensation accuracy and markedly higher operational efficiency.
作者
张玉洁
崔晶
李旭辉
袁瑞情
ZHANG Yujie;CUI Jing;LI Xuhui;YUAN Ruiqing(College of Mechanical and Energy Engineering,Beijing University of Technology,Beijing 100124,China;Hebei Key Laboratory for Mine Equipment Safety Monitoring,North China Institute of Science and Technology,Langfang 065201,Hebei,China)
出处
《北京工业大学学报》
北大核心
2025年第12期1485-1493,共9页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(U1913206,52375006)。
关键词
工业机器人
精度补偿
Lévy飞行策略
正交抽样采样
孔雀优化算法
算法效率
industrial robots
accuracy compensation
Lévy flight strategy
orthogonal sampling
peacock optimisation algorithm(POA)
algorithmic efficiency
