CN108890645A - A kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error - Google Patents
A kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error Download PDFInfo
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- CN108890645A CN108890645A CN201810719751.7A CN201810719751A CN108890645A CN 108890645 A CN108890645 A CN 108890645A CN 201810719751 A CN201810719751 A CN 201810719751A CN 108890645 A CN108890645 A CN 108890645A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention discloses a kind of compensation methodes of series parallel robot in five degrees of freedom driving joint zero point error, include the following steps：(1) mapping model between robot zero point error and end position and attitude error is established；(2) shape number in position is measured based on conditional number index optimization；(3) error identification equation group is constructed；(4) series-parallel robot end position and attitude error is measured；(5) 5 zero point errors of robot are recognized using Biased estimator method；(6) Correction and Control system returns to zero parameter and carries out zero point error compensation；(7) end position and attitude error of the robot in working space under the shape of different positions after the compensation of detection zero point error, end error is greater than the case where allowable value if it exists, step (4) to step (7) then are repeated, until the end position and attitude error in all measurement Wei Xingxia robots is respectively less than allowable value.The time of the method for the present invention error compensation is short, high-efficient, robot device's inspection, precision adjustment suitable for industrial site.
Description
Technical field
The invention belongs to industrial robot fields, are related to the Error Compensation Technology of industrial robot equipment, and in particular to one
The quick compensation technique of kind five degree of freedom mixed connection machining robot driving joint zero point error.
Background technique
Mixed connection process unit, the series-parallel robot of especially a kind of " position type parallel institution+series connection rotary head " configuration, tool
Have with rigidity similar in traditional machine tool and precision property, combine serial manipulator and parallel robot work characteristics, scene system
It makes with characteristics such as high speed, high-precision, high dynamic characteristic, highly-efficient processing and a wide range of movements, in large scale non-structure environment
Under processing and manufacturing field be with a wide range of applications.Such as Tricept, Exechon series parallel robot in five degrees of freedom exists
Preliminary Applications have been carried out in the fields such as aerospace, automobile manufacture, and achieve good result.
Geometric accuracy is one of the important performance indexes of such equipment, and restricts the bottle of such robot broader applications
Neck problem.Under the premise of series-parallel robot has certain basic accuracy of manufacture, error compensation is current raising mixed connection machine
The most effective means of people's geometric accuracy., mainly there are four steps in the step of error compensation：Error modeling, error-detecting, error identification, mistake
Difference compensation.Structure is complicated due to series-parallel robot, it is strong to exist between error source Numerous and the different error sources of parallel institution
Coupling, therefore error modeling is difficult；Pose is more leads to inefficiency for measurement；Parameter to be identified is numerous, causes to recognize model complexity,
Discernibility matrixes poor robustness；Identification result is big by measurement influence of noise, and the inaccuracy of identification causes compensation effect undesirable.Cause
Can this, propose that a kind of model is simple, measurement is efficient, compensation effect is significant, mixed connection processing machine suitable for industry spot application
The quick error compensating method of device people is critical issue urgently to be resolved.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provide a kind of model is simple, measurement efficiently, compensation
Significant effect, convenient for industry spot application, can based on error detection data implement series parallel robot in five degrees of freedom drive close
Save the compensation method of zero point error.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error, includes the following steps：
(1) mapping model between robot zero point error and end position and attitude error is established；
(2) shape number in position is measured based on conditional number index optimization；
(3) error identification equation group is constructed；
(4) series-parallel robot end position and attitude error is measured；
(5) 5 zero point errors of robot are recognized using Biased estimator method；
(6) Correction and Control system returns to zero parameter and carries out zero point error compensation；
(7) end position and attitude error of the robot in working space under the shape of different positions after the compensation of detection zero point error, if depositing
In end, error is greater than the case where allowable value, then repeatedly step (4) is to step (7), until in all measurement Wei Xingxia robots
End position and attitude error when being respectively less than allowable value, the compensation of robot driving joint zero point error terminates.
Further, in step (1) using the vector differential method establish series parallel robot in five degrees of freedom 5 zero point errors and
Mapping model between the position and attitude error of end, it is specific as follows：
Based on spinor theory, robot parallel module and all geometric error sources of serial module structure and robot end are established respectively
The mapping model for holding position and attitude error comprehensively considers parallel module, series connection rotary head geometric error source to robot end's position and attitude error
The contribution degree rule of spinor, establishing complete machine geometric error model is：
$t=B Δ χ+ξ=BaΔχa+BcΔχc+ξ
Wherein, $tFor series-parallel robot end position and attitude error spinor, Δ χ is series-parallel robot geometric error source complete or collected works composition
Error vector, B be error map matrix, BaFor zero point error mapping matrix, Δ χaFor series-parallel robot zero point error source composition
Error vector, BcFor other geometric error mapping matrixes, Δ χcThe error constituted for the other geometric error sources of series-parallel robot to
Amount, ξ is random noise.
Further, process of the step (2) based on conditional number index optimization measurement position shape number is as follows：
Position shape number is measured by selection, so that zero point error discernibility matrixes BaConditional number reduce to improve matrix
State, and then accurate identification result is obtained, this problem, which is attributed to, asks minimum bit shape to measure number：
Wherein, n indicates minimum pose measurement number, εκ(n) zero point error discernibility matrixes B is indicatedaThe opposite variation of conditional number
Rate, K indicate the equation number for including in error identification equation group, and K >=5 indicates that equation number is more than or equal to parameter to be identified
Number 5, [εκ] indicate εκ(n) given threshold value, κnIndicate B when figurate number mesh in position is naMinimal condition number, that is,
κn=min { κ (n) }, κ (n)=cond (Ba(n))
Wherein, Ba(n) the error identification matrix B constituted based on any one group of n measurement position shape is indicateda。
Further, the process of step (3) building error identification equation group is as follows：
Utilize the space of coplanar and there is no three point on a straight line four points on laser tracker detection robot terminal link
Location error establishes the mapping model between four point tolerance measured value of laser tracker and robot end's position and attitude error spinor,
Δρk=Pk$t,k
Wherein, footnote k indicates k-th of measurement position shape, Δ ρkIt is missed for 4 points of the spatial position on robot end's component
The vector that aberration measurements are constituted, $t,kFor series-parallel robot end position and attitude error spinor, PkFor corresponding error map matrix；
Consider all n measurements position shape, establish series-parallel robot geometric error source and laser tracker error measuring value it
Between error map model：
Wherein, Δ χaIndicate series-parallel robot zero point error vector to be identified, Δ χcIndicate the other geometry of series-parallel robot
Error vector, Δ ρ indicate the vector that the position and attitude error value of series-parallel robot end actual measurement is constituted, HaIndicate that zero point error is distinguished
Know matrix, HcIndicate that other geometric error discernibility matrixes, H indicate that overall error discernibility matrixes, ξ indicate random error vector.
Further, it is measured under n measurement position shape respectively on robot end's component in step (4) using laser tracker
The volumetric position error of four points coplanar and there is no three point on a straight line, obtains corresponding end measurement error vector Δ ρ.
Further, the step (5) is as follows using the process of Biased estimator method identification 5 zero point errors of robot：
By the zero point error of robot from separating in all geometric error sources, the robot geometry is missed
Poor mapping model
Δ ρ=HaΔχa+HcΔχc+ξ
5 zero point errors of robot are recognized using the ridge estimaion algorithm in Biased estimatorI.e.
Wherein, k > 0 is constant, referred to as ridge parameter, and I is indicated and Ha THaThe unit matrix of same order；
ExpectationFor
Wherein, Hk=(Ha THa+kI)-1Ha THa,DeviationFor
By choosing k value, realize that accurate recognition goes out 5 zero point errors of robot.
Further, step (6) Correction and Control system returns to zero parameter and carries out zero point error compensation, i.e., the zero point that will be picked out
Error result is scaled corresponding encoder output umber of pulse, the corresponding variate-value of modification numerical control system zero-back parameter, completion pair
The compensation of robot zero point error.
Compared with prior art, beneficial effect brought by technical solution of the present invention is：
(1) robot zero point error is separated building error model by the method for the present invention from geometric error source, wait distinguish
It is few to know parameter, identification model is simple, and discernibility matrixes robustness is good, may be implemented to drive joint zero to series parallel robot in five degrees of freedom
Point tolerance quickly compensates.
(2) the method for the present invention is coplanar using robot end's component and the spatial position of four points of three point on a straight line is not present
Control information inverting robot end's position and attitude error, it is only necessary to which pose coupling and big working space can be realized in a small amount of measuring point information
The Zero calibration of series-parallel robot, is not related to redundant sensor information and complicated interative computation, and calibration process is succinctly efficient.
(3) time of the method for the present invention error compensation is short, high-efficient, and the robot device suitable for industrial site patrols
Inspection, precision adjustment, avoid conventional method from taking a long time and occupy the robot excessive production time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram in a direction of series parallel robot in five degrees of freedom；
Fig. 2 is the structural schematic diagram in another direction of series parallel robot in five degrees of freedom；
Fig. 3 is the machining center structural schematic diagram built by series parallel robot in five degrees of freedom；
Fig. 4 is series parallel robot in five degrees of freedom position and attitude error measuring principle schematic diagram；
Fig. 5 a and Fig. 5 b are series parallel robot in five degrees of freedom pose measuring apparatus schematic diagrames；
Fig. 6 is the method for the present invention flow diagram.
Appended drawing reference：1- series-parallel robot；2- parallel module；The first fixed plate of 11-；The first rotating bracket of 12-；13-
First length adjustment device；2- parallel module；The second length adjustment device of 23-；24- second hinge；33- third length adjustment dress
It sets；34- third hinge；The second fixed plate of 41-；The second rotating bracket of 42-；The 4th length adjustment device of 43-；44- the 4th is cut with scissors
Chain；5- moving platform；6- series connection rotary head；The first rotating shaft of 61-；The second rotating shaft of 62-；63- main shaft；64- cutter；71- workpiece is sat
Mark system；72- laser tracker measures coordinate system；73- rack coordinate system；81- series parallel robot in five degrees of freedom；82- workbench；
83- laser tracker；91- pose measuring apparatus；92- mounting plate；93- connecting flange；94- magnetic support mounting groove；95- magnetic support；96-
Reflecting mirror.
Specific embodiment
The present invention is described in detail in the following with reference to the drawings and specific embodiments.
The present embodiment is a kind of five containing rotating bracket disclosed in the Chinese patent for Publication No. CN104985596A
The fast-compensation method of the driving joint zero point error of freedom degree series-parallel robot.
Five degree of freedom mixed connection connection configuration dress disclosed in the 1 and brief description of attached drawing 2 CN104985596A with reference to the accompanying drawing
Standby structure.The series parallel robot in five degrees of freedom 1 by with one translation and two rotate 3-freedom parallel mechanisms and with
The tool of concatenation there are two the series connection rotary heads of rotational freedom to form, series connection rotary head 6 is fixed in the moving platform of parallel institution.It is described
The series connection rotary head 6 for being serially connected in 5 end of moving platform be two degrees of freedom A/C yaw, including the first rotating shaft 61 and the second rotating shaft
62.The 3-freedom parallel mechanism includes the first length adjustment device 13, the second length adjustment device 23, third length tune
Regulating device 33 and the 4th length adjustment device 43 and the first rotating bracket 12 and the second rotating bracket 42.First rotation
The two side ends of bracket 12 are respectively rotatably connected with first fixed plate 11 by single-degree-of-freedom hinge respectively, and described second turn
The two side ends of dynamic bracket 42 are respectively rotatably connected with second fixed plate 41 by single-degree-of-freedom hinge respectively, and described first
One end of length adjustment device 13 is fixedly connected through the middle part of first rotating bracket 12 with moving platform 5, and described second is long
One end of degree regulating device 23 and third length adjustment device 33 extends through first rotating bracket 12 accordingly by the
Two hinge 24 and third hinge 34 are connect with moving platform 5, second length adjustment device 23 and third length adjustment device 33
It is symmetrically disposed on the two sides of the first length adjustment device 13, first length adjustment device 13, the second length adjustment device
23 and third length adjustment device 33 middle part respectively respectively by being hingedly connected at the first rotation with rotational freedom
On bracket 12, one end of the 4th length adjustment device 43 passes through the 4th hinge 44 and moving platform through the second rotating bracket 42
The lower section of the first length adjustment device 13 is arranged in 5 connections, the 4th length adjustment device 43, and the 4th hinge 44 is tool
There are three the spherical hinges of rotational freedom, and three pivot centers are not conllinear but intersect at a point.The 4th length adjustment dress
43 middle part is set by having a rotational freedom hinge to be pivotally connected in the second rotating bracket 42.Pose measuring apparatus
91 are made of mounting plate 92, connecting flange 93, magnetic support 95 and reflecting mirror 96, and when carrying out measurement, mounting plate 92 can pass through connection method
Orchid 93 is fixedly connected on the end face of main shaft 63, and four magnetic supports 95 are fixedly placed in by interference fit positioned at 92 4 jiaos of mounting plate
Magnetic support mounting groove 94 in, reflecting mirror 96 can be fixed accurately and is adsorbed on any one magnetic support 95, with utilize laser tracker
83 obtain the spatial positional information of the central point of reflecting mirror 96.1 kinematics of series-parallel robot is established in the rack coordinate system 73
On, the laser tracker measurement coordinate system 72 depends on laser tracker 83, and the workpiece coordinate system 71 depends on work
On platform 82, by determining that location information of the workpiece coordinate system 71 in laser tracker coordinate system 82 is zeroed, to guarantee to obtain
The spatial positional information of the central point of the reflecting mirror 96 taken is measured in workpiece coordinate system 71.
The fast-compensation method of a kind of series parallel robot in five degrees of freedom driving joint zero point error of the invention, by above-mentioned
The mapping model for establishing series parallel robot in five degrees of freedom zero point error and end position and attitude error is measured excellent using laser tracker 83
Change the robot zero point position and attitude error of position figurate number now, then 5 driving joints zero of robot are picked out by Biased estimator algorithm
Point tolerance carries out zero point error compensation in digital control system.Whole process is as shown in Figures 1 to 6, which mainly includes following
Step：
One, the mapping model between 1 zero point error of series-parallel robot and end position and attitude error is established
5 zero point errors and end position and attitude error of the series parallel robot in five degrees of freedom 1 are established using the vector differential method
Between mapping model.This method comes the zero point error of robot and other geometric parameter error separates, is based on spinor theory,
The mapping model between all geometric error sources of parallel module 2 and robot end's position and attitude error spinor is initially set up,
Wherein, $P,tFor parallel module geometric error source position and attitude error spinor caused by end, Δ ξPFor parallel module master
Movable joint kinematic error vector, Δ ηPFor remaining geometric error source of parallel module constitute error vector,It is right
The error map matrix answered；
The mapping model between the series connection all geometric error sources of rotary head 6 and robot end's position and attitude error spinor is established,
$S,t=JSΔξS+GSΔηS
Wherein, $S,tFor rotary head geometric error source position and attitude error spinor caused by end of connecting, Δ ξSFor the rotary head master that connects
Movable joint kinematic error vector, Δ ηSFor the error vector that series connection remaining geometric error source of rotary head is constituted, JS、GSFor corresponding mistake
Poor mapping matrix；
According to 1 configuration feature of series-parallel robot, and parallel module 2, series connection 6 geometric error source of rotary head are comprehensively considered to machine
The contribution degree rule of people end position and attitude error spinor, establishes complete machine geometric error model,
$t=B Δ χ+ξ=BaΔχa+BcΔχc+ξ
Wherein, $tFor series-parallel robot end position and attitude error spinor, Δ χ is series-parallel robot geometric error source complete or collected works composition
Error vector, B be error map matrix, BaFor zero point error mapping matrix, Δ χaFor series-parallel robot zero point error source composition
Error vector, BcFor other geometric error mapping matrixes, Δ χcThe error constituted for the other geometric error sources of series-parallel robot to
Amount, ξ is random noise.
Two, need to measure position shape number based on conditional number index optimization series-parallel robot 1
By reasonably selecting series-parallel robot 1 to need to measure position shape number, so that zero point error discernibility matrixes BaItem
Number of packages is small as far as possible to improve matrix condition, and then can obtain accurate identification result, this problem, which is attributed to, seeks minimum bit
Shape measures number：
Wherein, n indicates minimum pose measurement number, εκ(n) zero point error discernibility matrixes B is indicatedaThe opposite variation of conditional number
Rate, K indicate the equation number for including in error identification equation group, and K >=5 indicates that equation number is not less than number of parameters to be identified
5, [εκ] indicate εκ(n) given threshold value, κnIndicate B when figurate number mesh in position is naMinimal condition number, that is,
κn=min { κ (n) }, κ (n)=cond (Ba(n))
Wherein, Ba(n) the error identification matrix B constituted based on any one group of n measurement position shape is indicateda。
Three, 1 error identification equation group of series-parallel robot is constructed
The sky of four points coplanar on 1 terminal link of robot and there is no three point on a straight line is detected using laser tracker 83
Between location error, and then establish laser tracker 83 for the four point tolerances measured value and 1 end position and attitude error spinor of robot
Between mapping model
Δρk=Pk$t,k
Wherein, footnote k indicates k-th of measurement position shape, Δ ρkIt to be total to for coplanar on robot end's component and there is no 3 points
The vector that the volumetric position error measured value of four points of line is constituted, $t,kFor series-parallel robot end position and attitude error spinor, PkFor
Corresponding error map matrix；
Consider all n measurements position shape, establish series-parallel robot geometric error source and laser tracker error measuring value it
Between error map model
Wherein, Δ χaIndicate series-parallel robot zero point error vector to be identified, Δ χcIndicate the other geometry of series-parallel robot
Error vector, Δ ρ indicate the vector that the position and attitude error value of series-parallel robot end actual measurement is constituted, HaIndicate that zero point error is distinguished
Know matrix, HcIndicate that other geometric error discernibility matrixes, H indicate that overall error discernibility matrixes, ξ indicate random error vector.
Four, 1 end position and attitude error of series-parallel robot is measured
It is measured using the measurement of laser tracker 83 and is surveyed under n measurement position shape with the pose of robot end's member respectively
The spatial position coordinate of four points coplanar on device 91 and there is no three point on a straight line is measured, and robot is in this at clearing accordingly
The position and attitude error of 64 coordinate system of end cutter, circular are when measuring position shape：
Remember that the position of four points coplanar in 83 measured pose measuring device of laser tracker and there is no three point on a straight line is sat
It is designated as ri=(xi yi zi)T, then end reference point locations vectorEnable the equation of four measurement point institute fit Planes
For ax+by+c=z, then the vector X=being made of equation parameter (a b c)TIt can be solved by following formula
In formula, λminThe minimal eigenvalue of representing matrix [A L], I indicate three rank unit matrixs.
Planar process vector n is determined using plane equation1=(a b -1)T, using non-conterminous two measurement points (as put 1 and point
3) position coordinates determine a reference axis n in plane2=(r3-r1)/||r3-r1||2, third reference axis is by the right-hand rule
Determine n3=n1×n2.Gained coordinate system and the comparison of ideal coordinates system can be sought into moving platform attitude error vector Δ ρ.
Five, 5 zero point errors of series-parallel robot are recognized using Biased estimator method
According to above-mentioned 1 complete machine geometric error model of series-parallel robot
Δ ρ=HaΔχa+HcΔχc+ξ
The end position and attitude error H due to caused by zero point erroraΔχaMuch larger than the position of end caused by other structures error source
Appearance error HcΔχc, therefore in identification process, it can be by HcΔχc+ ξ regards noise as, and the mean value of noise is not zero at this time, using having
Ridge estimaion algorithm partially in estimation recognizes 5 zero point errors of robot, i.e.,
Wherein, k > 0 is constant, referred to as ridge parameter, and I is indicated and Ha THaThe unit matrix of same order.
Be desired for
Wherein, Hk=(Ha THa+kI)-1Ha THa。Deviation be
The ridge estimaion is Biased estimator, chooses suitable k value, picks out 5 zero point error Δ χ of robota。
Six, by 1 zero point position and attitude error Δ χ of the series-parallel robot of identificationaIt is scaled corresponding encoder output umber of pulse, into
And change in digital control system and return to zero the corresponding variate-value of parameter, it completes to compensate robot zero point error.
Seven, end position and attitude error of the detection series-parallel robot 1 in working space under several shapes, if it exists surveyed mixed connection
Robot pose error is greater than the case where allowable value, then repeats step 4 to step 7, until the machine under the shape of all measurement positions
When the end position and attitude error of people 1 is no more than allowable value, then robot 1 drives zero point error compensation in joint to terminate.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error, which is characterized in that including following step
Suddenly：
(1) mapping model between robot zero point error and end position and attitude error is established；
(2) shape number in position is measured based on conditional number index optimization；
(3) error identification equation group is constructed；
(4) series-parallel robot end position and attitude error is measured；
(5) 5 zero point errors of robot are recognized using Biased estimator method；
(6) Correction and Control system returns to zero parameter and carries out zero point error compensation；
(7) end position and attitude error of the robot in working space under the shape of different positions after the compensation of detection zero point error, it is last if it exists
The case where holding error to be greater than allowable value, then repeatedly step (4) is to step (7), until at the end of all measurement Wei Xingxia robots
When end position and attitude error is respectively less than allowable value, the compensation of robot driving joint zero point error terminates.
2. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is, establishes 5 zero point errors of series parallel robot in five degrees of freedom using the vector differential method in step (1) and end pose misses
Mapping model between difference, it is specific as follows：
Based on spinor theory, robot parallel module and all geometric error sources of serial module structure and robot end position are established respectively
The mapping model of appearance error comprehensively considers parallel module, series connection rotary head geometric error source to robot end's position and attitude error spinor
Contribution degree rule, establishing complete machine geometric error model is：
$t=B Δ χ+ξ=BaΔχa+BcΔχc+ξ
Wherein, $tFor series-parallel robot end position and attitude error spinor, Δ χ is the mistake that series-parallel robot geometric error source complete or collected works are constituted
Difference vector, B are error map matrix, BaFor zero point error mapping matrix, Δ χaThe mistake constituted for series-parallel robot zero point error source
Difference vector, BcFor other geometric error mapping matrixes, Δ χcFor the error vector that the other geometric error sources of series-parallel robot are constituted, ξ
For random noise.
3. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is that process of the step (2) based on conditional number index optimization measurement position shape number is as follows：
Position shape number is measured by selection, makes zero point error discernibility matrixes BaConditional number reduce to improve matrix condition, with obtain
Accurate identification result is finally attributed to and minimum bit shape is asked to measure number：
Wherein, n indicates minimum pose measurement number, εκ(n) zero point error discernibility matrixes B is indicatedaThe relative change rate of conditional number, K
Indicating the equation number for including in error identification equation group, K >=5 indicates that equation number is more than or equal to number of parameters 5 to be identified,
[εκ] indicate εκ(n) given threshold value, κnIndicate B when figurate number mesh in position is naMinimal condition number, that is,
κn=min { κ (n) }, κ (n)=cond (Ba(n))
Wherein, Ba(n) the error identification matrix B constituted based on any one group of n measurement position shape is indicateda。
4. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is that the process that step (3) constructs error identification equation group is as follows：
Utilize the spatial position of coplanar and there is no three point on a straight line four points on laser tracker detection robot terminal link
Error establishes the mapping model between four point tolerance measured value of laser tracker and robot end's position and attitude error spinor,
Δρk=Pk$t,k
Wherein, footnote k indicates k-th of measurement position shape, Δ ρkIt is measured for 4 points of the volumetric position error on robot end's component
It is worth the vector constituted, $t,kFor series-parallel robot end position and attitude error spinor, PkFor corresponding error map matrix；
Consider all n measurements position shape, establishes between series-parallel robot geometric error source and laser tracker error measuring value
Error map model：
Δ ρ=HaΔχa+HcΔχc+ ξ,
Wherein, Δ χaIndicate series-parallel robot zero point error vector to be identified, Δ χcIndicate the other geometric errors of series-parallel robot
Vector, Δ ρ indicate the vector that the position and attitude error value of series-parallel robot end actual measurement is constituted, HaIndicate that zero point error recognizes square
Battle array, HcIndicate that other geometric error discernibility matrixes, H indicate that overall error discernibility matrixes, ξ indicate random error vector.
5. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is, measures coplanar on robot end's component under n measurement position shape and does not deposit respectively using laser tracker in step (4)
In the volumetric position error of four points of three point on a straight line, corresponding end measurement error vector Δ ρ is obtained.
6. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is that the step (5) is as follows using the process of Biased estimator method identification 5 zero point errors of robot：
By the zero point error of robot from separating in all geometric error sources, the robot geometric error is reflected
Penetrate model
Δ ρ=HaΔχa+HcΔχc+ξ
5 zero point errors of robot are recognized using the ridge estimaion algorithm in Biased estimatorI.e.
Wherein, k > 0 is constant, referred to as ridge parameter, and I is indicated and Ha THaThe unit matrix of same order；
ExpectationFor
Wherein, Hk=(Ha THa+kI)-1Ha THa,DeviationFor
By choosing k value, realize that accurate recognition goes out 5 zero point errors of robot.
7. a kind of compensation method of series parallel robot in five degrees of freedom driving joint zero point error according to claim 1, special
Sign is that step (6) Correction and Control system returns to zero parameter and carries out zero point error compensation, i.e., changes the zero point error result picked out
Calculating is corresponding encoder output umber of pulse, and the corresponding variate-value of modification numerical control system zero-back parameter is completed to robot zero point
Error compensation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810719751.7A CN108890645B (en) | 2018-06-30 | 2018-06-30 | Compensation method for zero point error of driving joint of five-degree-of-freedom series-parallel robot |
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| CN109814496A (en) * | 2019-01-31 | 2019-05-28 | 天津大学 | Multiaxis method for synchronizing time in a kind of S type acceleration and deceleration trajectory planning |
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| CN113500584B (en) * | 2021-07-15 | 2022-06-28 | 西北工业大学 | Tail end error correction system and method of three-degree-of-freedom parallel robot |
| CN113878581A (en) * | 2021-10-28 | 2022-01-04 | 天津大学 | Error prediction and real-time compensation technology for five-degree-of-freedom hybrid robot |
| CN114734435A (en) * | 2022-03-24 | 2022-07-12 | 苏州艾利特机器人有限公司 | Encoder calibration method, device and system based on hypersphere |
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| CN115026819A (en) * | 2022-06-09 | 2022-09-09 | 天津大学 | Robot calibration method based on FIS theory |
| CN115946123A (en) * | 2023-01-16 | 2023-04-11 | 佛山智能装备技术研究院 | Industrial robot multi-tool center point and zero point calibration method |
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