摘要
传统机器人运动误差补偿方法受限于传感器精度、机械磨损等因素,存在较大的误差,补偿效果往往不够理想,因此设计了数据驱动下基于STM32F030单片机的机器人运动误差补偿系统。研究流程包括硬件设计和软件设计两部分。硬件设计基于STM32F030单片机,集成了高精度传感器和执行机构,用于实时采集和处理机器人运动数据。软件设计则包括机器人运动误差识别、建立运动误差数学模型以及设计运动误差补偿算法。通过实时采集数据、识别误差、建立模型和计算补偿量,实现对机器人运动误差的精确补偿。测试结果表明,该系统应用后,机器人的运动角度误差被有效地控制在0.05。以下,最大位移偏差不超过0.2mm,显著提高了机器人的运动精度和稳定性。
Traditional robot motion error compensation methods are limited by factors such as sensor accuracy and mechanical wear,resulting in significanterrors and often unsatisfactory compensation effects.Therefore,a data-driven robot motion error compensation system based on STM32F030 microcontroller has been designed.The research process includes two parts:hardware design and software design.The hardware design is based on the STM32F030 microcontroller,which integrates high-precision sensors and actuators for real-time acquisition and processing of robot motion data.Software design includes identifying robot motion errors,establishing mathematical models for motion errors,and designing motion error compensation algorithms.By collecting real-time data,identifying errors,establishing models,and calculating compensation amounts,precise compensation for robot motion errors can be achieved.The test results show that after the application of the system,the motion angle error of the robot is effectively controlled below 0.05°,and the maximum displacement deviation does not exceed 0.2mm,significantly improving the motion accuracy and stability of the robot.
作者
戴艳丽
DAI Yanli(Suqian Preschool Teachers College,Suqian Jiangsu,223800)
出处
《长江信息通信》
2025年第12期96-98,共3页
Changjiang Information & Communications
