装配机器人位姿误差建模与补偿研究

Abstract

针对装配机器人在运行过程中因发生速度、加速度的突变以及冲击、振动等不良现象而致使其定位精度低的问题，提出了一种误差补偿方法。首先，运用D-H法构建各关节的坐标变换矩阵，推导机器人的数学模型；其次，釆用传递矩阵法构建基于D-H参数的机器人误差模型及表达式；最后，釆用摄动补偿法对误差模型进行补偿，建立误差测量平台进行实测，用最小二乘算法计算辨识出机器人结构参数误差，并在此基础上进行误差补偿实验，实验表明所提出的误差补偿方法能够有效地提高装配机器人末端的定位精度，对装配机器人的进一步研究提供参考。 An error compensation method is proposed for the problem of low positioning accuracy that the assembly robot has due to the sudden change of velocity and acceleration and the bad phenomena such as shock and vibration. Firstly, DH is used to construct the coordinate transformation matrices of each joint, and the mathematical model of the robot is deduced. Secondly, the transfer matrix method is used to construct the robot error model and expression based on DH parameters. Finally, the error model is calculated by perturbation compensation method. The experimental results show that the proposed error compensation method can effectively improve the positioning accuracy of the end of the assembly robot, and it is a good tool for the assembly of the robot. The error compensation method is used to calculate the position error of the robot. Further study provides a reference.