Research of the Method of Parameter Identification and Error Compensation of Industrial Robot

Qi Fei; Ping Xueliang; Liu Jie; Jiang Yi

doi:10.16578/j.issn.1004.2539.2015.09.008

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Research of the Method of Parameter Identification and Error Compensation of Industrial Robot

更新时间：2022-10-20

- Research of the Method of Parameter Identification and Error Compensation of Industrial Robot
- Vol. 39, Issue 9, Pages: 32-36(2015)
- 作者机构：
  
  1. 江南大学机械工程学院江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.09.008
  CLC：
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[1]齐飞,平雪良,刘洁,蒋毅.工业机器人参数辨识及误差补偿方法研究[J].机械传动,2015,39(09):32-36.

Qi Fei, Ping Xueliang, Liu Jie, et al. Research of the Method of Parameter Identification and Error Compensation of Industrial Robot. [J]. 39(9):32-36(2015)
[1]齐飞,平雪良,刘洁,蒋毅.工业机器人参数辨识及误差补偿方法研究[J].机械传动,2015,39(09):32-36. DOI： 10.16578/j.issn.1004.2539.2015.09.008.

Qi Fei, Ping Xueliang, Liu Jie, et al. Research of the Method of Parameter Identification and Error Compensation of Industrial Robot. [J]. 39(9):32-36(2015) DOI： 10.16578/j.issn.1004.2539.2015.09.008.

摘要

针对工业机器人绝对定位精度较低,提出通过D-H法建立机器人运动学误差模型的补偿方法,因为机器人结构需满足Pieper准则,所以只考虑了机器人误差模型参数中的关节旋转角参数对机器人末端误差的影响,利用最小二乘法辨识出误差模型中真实的关节旋转角从而补偿误差,同时又利用圆周法对机器人误差进行二次补偿,最终将两次修正后的参数补偿到控制器中从而提高机器人的绝对定位精度。该方法在自主研发的六自由度工业机器人上得到验证,定位精度从补偿前的3.55,4,.45 mm提高到补偿后的0.924,1,.242 mm,补偿效果明显,为机器人精度研究提供了可靠依据。

Abstract

Aiming at the lower absolute positioning accuracy of robot,the compensation method of establishing the robot kinematics error model through D- H method is put forward. However,the robot structure needs to meet the Pieper law,so only the influence of the joint rotation angle of the robot error model on the robot end error is taken in consideration. The real joint rotation angle of error model can be identified by using the least square method to compensate the error,Meanwhile,and the second time compensation is carried out by using the circle method. At last,the corrected parameters is compensated to the controller so as to improve the absolute positioning accuracy. The method is verified on the developed industrial robot with 6- DOF. The positioning accuracy is improved from 3. 55 ,4. 45 mm to 0. 924 ,1. 242 mm after compensation,the effect is obvious and a reliable basis for the research of robot accuracy is also provided.

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Pieper法则误差补偿精度

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