Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load

Wang Xu; Li Dongsheng; Wang Mingming

doi:10.16578/j.issn.1004.2539.2017.05.007

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Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load

更新时间：2022-10-20

- Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load
- Vol. 41, Issue 5, Pages: 30-33(2017)
- 作者机构：
  
  1. 北京航空航天大学机械工程及自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.05.007
  CLC：
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[1]王旭,李东升,王明明.工业机器人大负载刚度辨识及误差补偿研究[J].机械传动,2017,41(05):30-33.

Wang Xu, Li Dongsheng, Wang Mingming. Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load. [J]. 41(5):30-33(2017)
[1]王旭,李东升,王明明.工业机器人大负载刚度辨识及误差补偿研究[J].机械传动,2017,41(05):30-33. DOI： 10.16578/j.issn.1004.2539.2017.05.007.

Wang Xu, Li Dongsheng, Wang Mingming. Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load. [J]. 41(5):30-33(2017) DOI： 10.16578/j.issn.1004.2539.2017.05.007.

摘要

为精确辨识在大负载工况下工业机器人的关节刚度参数,首先基于雅克比矩阵的弗罗贝尼乌斯范数确定了机器人在关节空间和工作空间内的灵活性能,之后利用力矩等效的方法将负载和机器人统一建模,提出了通过直接计算关节变形量补偿变形误差的方法。利用激光跟踪仪和ABB IRB 6640机器人依次开展了几何误差补偿试验、关节刚度辨识试验和关节变形补偿试验。试验结果表明,该方法能有效地补偿机器人的关节变形,从而提高机器人的绝对精度。机器人大负载工况下的定位误差由补偿前的0.694 mm减少至0.230 mm,精度提高了近67%。

Abstract

Intends to accurately identify joint stiffness parameters of industrial robot under heavy load condition,firstly,dexterity of the robot in joint space and workspace is determined based on the Frobenius norm of Jacobian matrix,then,the integrated model of load and robot are built by using equivalent torque method,and finally,a deformation error compensation method by directly calculating joint deformation and compensating is put forward. The laser tracker and ABB IRB 6 640 robot are used to conduct kinematic error compensation experiment,joint stiffness identification experiment and joint deformation compensation experiment. The results show this method can effectively compensate joint deformation and thus improve the absolute accuracy of the robot. The positioning error of the robot is significantly reduced from 0. 694 mm to 0. 230 mm,with an accuracy improvement by roughly 67%.

关键词

工业机器人标定关节刚度误差补偿大负载

Keywords

Industrial robotCalibrationJoint stiffnessError compensationHeavy load

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