CN106737855B - A kind of robot precision's compensation method of comprehensive position and attitude error model and rigidity compensation - Google Patents
A kind of robot precision's compensation method of comprehensive position and attitude error model and rigidity compensation Download PDFInfo
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Abstract
The invention discloses robot precision's compensation methodes of a kind of comprehensive position and attitude error model and rigidity compensation, comprising the following steps: step 1 establishes robot motion model according to the structural parameters of robot；Step 2 establishes robot inaccuracy model；Step 3, in robot working space, arbitrarily given object pose point records joint angles at this time when robot end is moved to specified point；Step 4, the actual coordinate Pa that given object pose point is measured using position measuring instrument；Step 5 recognizes error parameter using least square method；Step 6 applies load in robot end, measure its deflection, return step 3 compensates the structural failure after recognizing again again to motion model later, caused end position and attitude error is deformed caused by load to eliminate, deformation data caused by load is stored in database simultaneously, the accuracy compensation for the later period.The present invention can significantly improve the absolute fix precision of robot, simply, efficiently.
Description
Technical field
The invention belongs to Robot calibration technical field, especially a kind of machine of comprehensive position and attitude error model and rigidity compensation
Device people's precision compensation method.
Background technique
With the promulgation of " 2025 outline of made in China ", industrial robot will start in China develops again upsurge.Essence
Spending as the important indicator for measuring industrial robot performance includes repetitive positioning accuracy and absolute fix precision.Present industrial machine
Device people repetitive positioning accuracy is high, and absolute fix precision is low, is unfavorable for off-line programing and high-precision is processed.And robot motion
Learning calibration is to improve the effective means of robot localization precision, and main includes modeling, measurement, identification, compensation four-stage.
Traditional method carries out Robot calibration, is only to cause error to compensate for kinematics model parameter, and do not have
There is deflection caused by considering load, does not carry out comprehensive compensation.And in terms of traditional rigidity compensation, it needs to carry out a large amount of formula
It derives, solves each joint amount of deflection of robot and armed lever amount of deflection, establish rigidity model.Process is complicated, and efficiency is lower.
Summary of the invention
Technical problem solved by the invention is to provide the robot of a kind of comprehensive position and attitude error model and rigidity compensation
Precision compensation method.
The technical solution for realizing the aim of the invention is as follows: a kind of robot of comprehensive position and attitude error model and rigidity compensation
Precision compensation method, comprising the following steps:
Step 1 establishes robot motion model according to the structural parameters of robot；Specifically:
Step 1-1, the homogeneous transform matrix between robot adjacent segment, the matrix are established according to DH method are as follows:
In above formula, aiFor length of connecting rod, αiFor joint torsional angle, diFor connecting rod offset distance, θiFor joint rotation angle, x is connecting rod coordinate
It is X axis coordinate, z is link rod coordinate system Z axis coordinate；
Step 1-2, the rotation Rot (y, β) around y-axis is introduced to the homogeneous transform matrix established in step 1-1, eliminated intermediate
Unusual, the homogeneous transform matrix amendment between adjacent segment is generated between connecting rod when because axis is parallel or almost parallel are as follows:
In above formula, βiRobot the i-th bar coordinate system is indicated around the rotation angle of y-axis, y is link rod coordinate system Y axis coordinate, c
For cos, s sin；
Step 1-3, increase an additional parameter zn, description instrument coordinate system builds along the translation of tail end connecting rod coordinate system z-axis
Vertical transformation matrix of the tool coordinates system relative to tail end connecting rod coordinate system are as follows:
Step 1-4, for N articulated robot, according to above-mentioned steps obtain robot tool coordinate system and base coordinate system it
Between kinematic relation are as follows:
T=0A1×1A2×2A3×3A4×4A5×5A6×···×n-1An
The value of n is 1...N, and N >=1 kinematic relation is robot motion model.
Step 2 establishes robot inaccuracy model according to the robot motion model that step 1 is established；Specifically:
Step 2-1, the practical transition matrix of intermediate connecting rod and nominal transition matrix error dA are obtained by differential transform principlei
Are as follows:
And
AiFor intermediate connecting rod transition matrix；
Step 2-2, tool coordinates system is obtained relative to tail end connecting rod Conversion Matrix of Coordinate error by differential transform principle:
AnFor tool coordinates system and tail end connecting rod Conversion Matrix of Coordinate；
Step 2-3, for N articulated robot, final error model is that intermediate connecting rod error adds tool coordinates system
Relative to the error of tail end connecting rod transformation, following formula is obtained after differential of demanding perfection:
Wherein p is terminal position coordinate；
It is write:
Δ p=JδΔX
Wherein Δ X=(Δ θ1...Δθn, Δ α1...Δαn,Δa1...Δan,Δd1...Δdn,Δβ1...Δβn,Δ
zn)TIndicate each link mechanism error J of robotδIt is identification Jacobian matrix.
Step 3, in robot working space, arbitrarily given object pose point, nominal coordinate are Pn, when robot end
When end is moved to specified point, joint angles at this time are recorded；
Step 4, the actual coordinate Pa that given object pose point is measured using position measuring instrument；
Step 5 recognizes error parameter using least square method, and the structural failure picked out is compensated to robot
Motion model name parameter, verifies whether to meet the requirements, perform the next step if meeting the requirements, otherwise return step 3；
It is specifically to add structural parameters to pick out that the structural failure picked out, which is compensated to motion model name parameter,
Error parameter；
Verify whether to meet the requirements and specifically refer to: measurement actual coordinate is compared, if meet with the data before compensation
Otherwise the margin of tolerance ± 0.2mm is unsatisfactory for requiring if met the requirements in the margin of tolerance.
Step 6, robot end apply load, measure its deflection, later return step 3 by again recognize after knot
Structure error is compensated to robot motion model again, thus end position and attitude error caused by being deformed caused by eliminating load, simultaneously
Deformation data caused by load is stored in database, the accuracy compensation for the later period.Apply load, measurement in robot end
Its deflection specifically:
Step 6-1, within the scope of rated load, apply different quality load to robot end, utilize stress-strain gage
Each part distortion amount of robot measurement, and utilize the actual coordinate of the apparatus measures specified point of robot arrival at this time；
Step 6-2, measurement result is handled, obtains each part distortion amount of robot with the curve of load change, obtains
Take robot end's location error with the curve of load change.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) kinematics model that the present invention uses is in MDH method
On the basis of increase tool coordinates system, machine can be better described by constituting 6 parameter models so that motion model is more complete
People's model.(2) method of the invention uses least square method to robot architecture's error identification, can be with softwares such as matlab
Quickly obtain structural failure identification result.(3) after method of the invention is compensated according to position and attitude error model, for machine
Deflection caused by people's end load has carried out second compensation, while not needing to establish rigidity model to robot again, eliminates
Complicated algorithm development process.(4) method of the invention obtains robot body deflection to the change curve of load, so that machine
Device people transfers the offline efficiency as a result, raising robot works online when encountering similar operating condition.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is robot precision's compensation method process of a kind of comprehensive position and attitude error model and rigidity compensation of the invention
Figure.
Fig. 2 is to apply each armed lever end deformation caused by load as robot end, wherein figure (a) is the bending of armed lever stress
Deformation pattern, figure (b) are armed lever stress stretcher strain figure, and figure (c) is armed lever stress torsional deflection figure.
Specific embodiment
In conjunction with Fig. 1, Fig. 2, the robot precision compensation side of a kind of comprehensive position and attitude error model and rigidity compensation of the invention
Method, comprising the following steps:
Step 1 establishes robot motion model according to the structural parameters of robot；Specifically:
Step 1-1, the homogeneous transform matrix between robot adjacent segment, the matrix are established according to DH method are as follows:
In above formula, aiFor length of connecting rod, αiFor joint torsional angle, diFor connecting rod offset distance, θiFor joint rotation angle, X is connecting rod coordinate
It is X-axis, Z is link rod coordinate system Z axis.
Step 1-2, the rotation Rot (y, β) around y-axis is introduced to the homogeneous transform matrix established in step 1-1, eliminated intermediate
Unusual, the homogeneous transform matrix amendment between adjacent segment is generated between connecting rod when because axis is parallel or almost parallel are as follows:
In above formula, βiRobot the i-th bar coordinate system is indicated around the rotation angle of y-axis, y is link rod coordinate system Y-axis, and c is
Cos, s sin；
Step 1-3, increase an additional parameter zn, description instrument coordinate system builds along the translation of tail end connecting rod coordinate system z-axis
Vertical transformation matrix of the tool coordinates system relative to tail end connecting rod coordinate system are as follows:
Step 1-4, for N articulated robot, according to above-mentioned steps obtain robot tool coordinate system and base coordinate system it
Between kinematic relation are as follows:
T=0A1×1A2×2A3×3A4×4A5×5A6×···×n-1An
The value of n is 1...N, and N >=1, which is robot motion model.
Step 2 establishes robot inaccuracy model according to the robot motion model that step 1 is established；Specifically:
Step 2-1, the practical transition matrix of intermediate connecting rod and nominal transition matrix error dA are obtained by differential transform principlei
Are as follows:
And
AiFor intermediate connecting rod transition matrix.
Step 2-2, tool coordinates system is obtained relative to tail end connecting rod Conversion Matrix of Coordinate error by differential transform principle:
AnFor tool coordinates system and tail end connecting rod Conversion Matrix of Coordinate.
Step 2-3, for N articulated robot, final error model is that intermediate connecting rod error adds tool coordinates system
Relative to the error of tail end connecting rod transformation, following formula is obtained after differential of demanding perfection:
Wherein p is terminal position coordinate.
It is write:
Δ p=JδΔX
Wherein Δ X=(Δ θ1...Δθn, Δ α1...Δαn,Δa1...Δan,Δd1...Δdn,Δβ1...Δβn,Δ
zn)TIndicate each link mechanism error J of robotδIt is identification Jacobian matrix.
Step 3, in robot working space, arbitrarily given object pose point, nominal coordinate are Pn, when robot end
When end is moved to specified point, joint angles at this time are recorded；
Step 4, the actual coordinate Pa that given object pose point is measured using position measuring instrument；
Step 5 recognizes error parameter using least square method, and the structural failure picked out is compensated to robot
Motion model name parameter, verifies whether to meet the requirements, perform the next step if meeting the requirements, otherwise return step 3；
It is specifically to add structural parameters to pick out that the structural failure picked out, which is compensated to motion model name parameter,
Error parameter；
Verify whether to meet the requirements and specifically refer to: measurement actual coordinate is compared, if meet with the data before compensation
Otherwise the margin of tolerance ± 0.2mm is unsatisfactory for requiring if met the requirements in the margin of tolerance.
Shown in step 6, reference Fig. 2, the deformation of armed lever can be caused by applying load in robot end, lead to robot end
Position error.Apply load in robot end, measure its deflection, return step 3 misses the structure after recognizing again later
Difference is compensated to robot motion model again, thus end position and attitude error caused by being deformed caused by eliminating load, while will carry
Deformation data caused by lotus is stored in database, the accuracy compensation for the later period.Specifically:
Step 6-1, within the scope of rated load, apply different quality load to robot end, utilize stress-strain gage
Each part distortion amount of robot measurement, and utilize the actual coordinate of the apparatus measures specified point of robot arrival at this time；
Step 6-2, measurement result is handled, obtains each part distortion amount of robot with the curve of load change, obtains
Take robot end's location error with the curve of load change.
In conclusion the robot precision compensation side of a kind of comprehensive position and attitude error model and rigidity compensation disclosed by the invention
Method gives object pose at random in robot working space and records nominal coordinate and joint angles, and measurement set point is practical
Pose establishes robot inaccuracy model, is recognized by least square method to error, and by the error compensation picked out to fortune
Then movable model name parameter applies load in robot end, measures deflection, carries out second compensation.Realize that robot is exhausted
Compensation to positioning accuracy.The present invention can significantly improve the absolute fix precision of robot, simply, efficiently.
Claims (3)
1. a kind of robot precision's compensation method of comprehensive position and attitude error model and rigidity compensation, which is characterized in that including following
Step:
Step 1 establishes robot motion model according to the structural parameters of robot；Specifically:
Step 1-1, the homogeneous transform matrix between robot adjacent segment, the matrix are established according to DH method are as follows:
In above formula, aiFor length of connecting rod, αiFor joint torsional angle, diFor connecting rod offset distance, θiFor joint rotation angle, x is link rod coordinate system X-axis
Coordinate, z are link rod coordinate system Z axis coordinate；
Step 1-2, the rotation Rot (y, β) around y-axis is introduced to the homogeneous transform matrix established in step 1-1, eliminates intermediate connecting rod
Between because axis generates unusual, homogeneous transform matrix between adjacent segment amendment when parallel or almost parallel are as follows:
In above formula, βiIndicate robot the i-th bar coordinate system around y-axis rotation angle, y be link rod coordinate system Y axis coordinate, c cos,
S is sin；
Step 1-3, increase an additional parameter zn, description instrument coordinate system establishes work along the translation of tail end connecting rod coordinate system z-axis
Have transformation matrix of the coordinate system relative to tail end connecting rod coordinate system are as follows:
Step 1-4, it for N articulated robot, is obtained between robot tool coordinate system and base coordinate system according to above-mentioned steps
Kinematic relation are as follows:
T=0A1×1A2×2A3×3A4×4A5×5A6×···×n-1An
The value of n is 1...N, and N >=1 kinematic relation is robot motion model；
Step 2 establishes robot inaccuracy model according to the robot motion model that step 1 is established；Establish the robot inaccuracy
Model specifically: the practical transition matrix of intermediate connecting rod and nominal transition matrix error step 2-1, are obtained by differential transform principle
dAiAre as follows:
And
AiFor intermediate connecting rod transition matrix；
Step 2-2, tool coordinates system is obtained relative to tail end connecting rod Conversion Matrix of Coordinate error by differential transform principle:
AnFor tool coordinates system and tail end connecting rod Conversion Matrix of Coordinate；
Step 2-3, for N articulated robot, final error model is that intermediate connecting rod error is opposite plus tool coordinates system
Following formula is obtained after the error of tail end connecting rod transformation, differential of demanding perfection:
Wherein p is terminal position coordinate；
It is write:
Δ p=JδΔX
Wherein Δ X=(Δ θ1...Δθn, Δ α1...Δαn,Δa1...Δan,Δd1...Δdn,Δβ1...Δβn,Δzn)T
Indicate each link mechanism error J of robotδIt is identification Jacobian matrix；
Step 3, in robot working space, arbitrarily given object pose point, nominal coordinate are Pn, when robot end moves
When moving specified point, joint angles at this time are recorded；
Step 4, the actual coordinate Pa that given object pose point is measured using position measuring instrument；
Step 5 recognizes error parameter using least square method, and the structural failure picked out is compensated to robot motion
Model name parameter, verifies whether to meet the requirements, perform the next step if meeting the requirements, otherwise return step 3；
Step 6 applies load in robot end, measures its deflection, return step 3 misses the structure after recognizing again later
Difference is compensated to robot motion model again, thus end position and attitude error caused by being deformed caused by eliminating load, while will carry
Deformation data caused by lotus is stored in database, the accuracy compensation for the later period.
2. robot precision's compensation method of comprehensive position and attitude error model and rigidity compensation according to claim 1, special
Sign is that compensating the structural failure picked out to robot motion model's name parameter in step 5 is specifically by structural parameters
In addition the error parameter picked out；
Verify whether to meet the requirements and specifically refer to: measurement actual coordinate is compared, if meet tolerance with the data before compensation
Otherwise range ± 0.2mm is unsatisfactory for requiring if met the requirements in the margin of tolerance.
3. robot precision's compensation method of comprehensive position and attitude error model and rigidity compensation according to claim 1, special
Sign is, applies load in robot end in step 6, measures its deflection specifically:
Step 6-1, within the scope of rated load, apply different quality load to robot end, measured using stress-strain gage
Each part distortion amount of robot, and utilize the actual coordinate of the apparatus measures specified point of robot arrival at this time；
Step 6-2, measurement result is handled, obtains each part distortion amount of robot with the curve of load change, obtains machine
Device people's terminal position error with load change curve.
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