CN109465824B - Robot adjusting method and device - Google Patents

Robot adjusting method and device Download PDF

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Publication number
CN109465824B
CN109465824B CN201811313923.7A CN201811313923A CN109465824B CN 109465824 B CN109465824 B CN 109465824B CN 201811313923 A CN201811313923 A CN 201811313923A CN 109465824 B CN109465824 B CN 109465824B
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joint
robot
repeated positioning
positioning error
parameter
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CN109465824A (en
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余杰先
冯晶晶
张文欣
沈显东
张天翼
李明
谢黎
张志波
钟文涛
王林冰
黄侠
杨裕才
文辉
朱荣佳
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Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
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Gree Electric Appliances Inc of Zhuhai
Zhuhai Gree Intelligent Equipment Co Ltd
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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
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Abstract

The application provides a robot adjusting method and device, wherein the method comprises the following steps: the method comprises the steps of setting a robot according to a first value of a first joint parameter, obtaining a first repeated positioning error of the robot, adjusting the value of the first joint parameter under the condition that the first repeated positioning error does not meet a first preset condition, enabling the adjusted repeated positioning error of the robot to meet the first preset condition, adopting the scheme, accurately obtaining the joint parameters which have large influences on the repeated positioning error of the robot through a large amount of analysis, and adjusting the parameters in time to ensure the repeated positioning error of the robot.

Description

Robot adjusting method and device
Technical Field
The present application relates to, but not limited to, the field of robots, and in particular, to a method and an apparatus for adjusting a robot.
Background
In the related art, the project belongs to the field of precision design in the design of industrial robot bodies. The robot has good repeated positioning accuracy, which is the basis of the absolute positioning accuracy of the robot. The existing industrial robot generally has high repeated positioning accuracy, but the absolute positioning accuracy of the robot is low, a reference standard of the absolute positioning accuracy of the robot does not exist internationally in the related technology, and robot manufacturers generally give the repeated positioning accuracy of the robot. At present, in the design of an industrial robot body, qualitative analysis is carried out on the repeated positioning precision through improving the processing and assembling precision of all parts, cost control is not facilitated, the repeated positioning precision of the analysis robot cannot be comprehensively and systematically, quantitative analysis cannot be carried out on the repeated positioning precision without a corresponding mathematical model, and the repeated positioning precision is difficult to control in the production process.
Aiming at the problem that the scheme for adjusting the repeated positioning error of the robot in the related technology is complex, no effective solution is available at present.
Disclosure of Invention
The embodiment of the application provides a robot adjusting method and device, and aims to at least solve the problem that a scheme for adjusting the repeated positioning error of a robot in the related art is complex.
According to another embodiment of the present application, there is also provided an adjustment method of a robot, including: setting the robot according to a first value of a first joint parameter, and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the terminal reproduction positions of the robot in multiple movements when the robot is in a target posture in space; and under the condition that the first repeated positioning error does not meet a first preset condition, adjusting the value of the first joint parameter so that the adjusted second repeated positioning error of the robot meets the preset condition.
According to another embodiment of the present application, there is also provided an adjusting apparatus of a robot, including: the acquisition module is used for setting the robot according to a first value of a first joint parameter and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple times of activities when the robot is in a target posture in space; and the adjusting module is used for adjusting the value of the first joint parameter under the condition that the first repeated positioning error does not meet a first preset condition, so that the second repeated positioning error of the adjusted robot meets the preset condition.
According to a further embodiment of the present application, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present application, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Through this application, set up the robot according to the first value of first joint parameter, acquire the first repeated positioning error of robot under the condition that first repeated positioning error does not satisfy first preset condition, adjust the value of first joint parameter to make the repeated positioning error of the robot after the adjustment accord with first preset condition, adopt above-mentioned scheme, through a large amount of analysis, accurately acquire the great joint parameter of repeated positioning error influence to the robot, in time adjust these parameters, in order to guarantee the repeated positioning error of robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a computer terminal of an adjustment method of a robot according to an embodiment of the present application;
fig. 2 is a flow chart of an adjustment method of a robot according to an embodiment of the application;
FIG. 3 is a schematic diagram of dimensions of joints of a GR625 robot according to another embodiment of the present application;
FIG. 4 is a first schematic diagram of a repeatable positioning accuracy distribution of a robot across a workspace according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a second exemplary embodiment of a robot's repeatable positioning accuracy distribution over a workspace;
FIG. 6 is a least repetitive positioning accuracy robot pose diagram according to another embodiment of the present application;
FIG. 7 is a minimum repetition localization accuracy pose distribution graph according to another embodiment of the present application;
FIG. 8 is a schematic illustration of the effect of joint random motion error half tolerance band bandwidth on repositioning accuracy according to another example of the present application;
FIG. 9 is a schematic illustration of the effect of a robot joint size on repositioning accuracy in accordance with another embodiment of the present application;
fig. 10 is a schematic diagram illustrating the effect of all joint sizes of a robot on the repositioning accuracy according to another embodiment of the present application.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example one
The method provided by the first embodiment of the present application may be executed in a computer terminal, or a similar computing device. Taking a computer terminal as an example, fig. 1 is a hardware structure block diagram of a computer terminal of an adjusting method of a robot according to an embodiment of the present invention, as shown in fig. 1, a computer terminal 10 may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), and a memory 104 for storing data, and optionally, the computer terminal may further include a transmission device 106 for a communication function and an input/output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store software programs and modules of application software, such as program instructions/modules corresponding to the robot adjustment method in the embodiment of the present application, and the processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In the present embodiment, there is provided a method for adjusting a robot, and fig. 2 is a flowchart of a method for adjusting a robot according to an embodiment of the present application, where as shown in fig. 2, the flowchart includes the following steps:
step S202, setting the robot according to a first value of a first joint parameter, and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple times of activities when the robot is in a target posture in space;
and step S204, under the condition that the first repeated positioning error does not meet a first preset condition, adjusting the value of the first joint parameter so as to enable the second repeated positioning error of the adjusted robot to meet the first preset condition.
The joint parameters include: the included angle of joint movement, the distance between joints and the offset distance of joints.
Through the steps, the robot is set according to the first value of the first joint parameter, the first repeated positioning error of the robot is obtained, under the condition that the first repeated positioning error does not meet the first preset condition, the value of the first joint parameter is adjusted, so that the adjusted repeated positioning error of the robot meets the first preset condition, the scheme is adopted, the joint parameters which have large influence on the repeated positioning error of the robot are accurately obtained through a large amount of analysis, and the parameters are adjusted in time, so that the repeated positioning error of the robot is ensured.
The repetitive positioning error may be used to describe the repetitive positioning accuracy, which is the maximum repetitive positioning error generated by the robot tip in the workspace.
Optionally, when the first repeated positioning error does not satisfy a first preset condition, adjusting a value of the first joint parameter includes: and when the first repeated positioning error is larger than a threshold value, adjusting the value of the first joint parameter.
Optionally, under the condition that the first repeated positioning error does not satisfy a first preset condition, after the value of the first joint parameter is adjusted, obtaining a second value obtained by adjusting the value of the first joint parameter; and setting the robot according to the second value, acquiring a second repetition error of the robot, and detecting whether the second repetition error meets the first preset condition.
Optionally, before the robot is set according to the first value of the first joint parameter, the joint parameter whose influence effect on the repeated positioning error meets a second preset condition is obtained from the plurality of joint parameters, and the obtained joint parameter is determined as the first joint parameter.
Optionally, obtaining, from among a plurality of joint parameters, a joint parameter whose effect on the repeated positioning error meets a second preset condition, and determining the joint parameter as the first joint parameter includes: controlling the robot to move in a working space for multiple times, and obtaining values of joint moving angles of multiple joints at the posture with the lowest repeated positioning error each time, wherein the repeated positioning error of the robot is the lowest when the tail end of the robot is positioned at the boundary of the working space; when the robot in the multiple movements is in the lowest posture, the robot is a first joint with the value change of the joint movement angle smaller than the preset range, and the first joint parameter is the joint movement angle of the first joint.
Optionally, obtaining, from among a plurality of joint parameters, a joint parameter whose effect on the repeated positioning error meets a second preset condition, and determining the joint parameter as the first joint parameter includes: acquiring a first scale coefficient of a random motion error tolerance band bandwidth of a plurality of joints, which influences the repeated positioning error, wherein the random motion error tolerance band bandwidth is used for representing the stability of the joints; and acquiring a joint with the first scale coefficient larger than a threshold value as a first joint, wherein the random motion error tolerance band bandwidth of the first joint is the first joint parameter.
In practical application, the repeated positioning precision of the servo motor is about 5-10 times of the resolution of the encoder, and the error is reflected on the joint motion error of the robot through the speed reducer. When designing the robot, the sum-subtraction ratio R of the resolution P of the servo motor encoder can be used as an estimated value of the bandwidth of the joint random motion error half tolerance band, namely:
Figure BDA0001855755930000061
the bandwidth of the tolerance band of random motion errors can be obtained by the formula.
Optionally, obtaining, from among a plurality of joint parameters, a joint parameter whose effect on the repeated positioning error meets a second preset condition, and determining the joint parameter as the first joint parameter includes: acquiring a second proportionality coefficient that joint sizes of a plurality of joints affect the repeated positioning error; and acquiring the joint of which the second proportionality coefficient is greater than the threshold value as a first joint, wherein the joint size of the first joint is the first joint parameter.
Optionally, obtaining an influence rule of the joint parameter on the repeated positioning accuracy of the robot includes: determining the repeat location accuracy R by the following formulapRelationship to joint parameters of the robot:
Figure BDA0001855755930000062
wherein the content of the first and second substances,
Figure BDA0001855755930000063
j is a Jacobian matrix, Δ θjFor random motion error half tolerance band width, Δ θj＝3σj，σjMean square error of random motion error for joint number jDetermined by joint parameters;
and obtaining the influence rule of the joint parameters of the plurality of joints on the repeated positioning precision of the robot through the formula.
The following description is made in conjunction with another embodiment of the present application.
Therefore, it is highly desirable to develop a set of calculation method for the repeated positioning accuracy of the robot to quantitatively analyze the repeated positioning accuracy influence caused by the error of the relevant parameters, so as to guide the research and production.
Another embodiment of this application is in aiming at solving at present in industrial robot body design, and the assurance about repeated positioning accuracy is all to carrying out qualitative analysis to repeated positioning accuracy through improving all spare part processing and assembly precision, is unfavorable for cost control, and the analytic robot repeated positioning accuracy that can not comprehensive system simultaneously does not have corresponding mathematical model and can not carry out quantitative analysis to repeated positioning accuracy, is difficult to accomplish controllable problem to repeated positioning accuracy in process of production.
Another embodiment of the present application illustrates the present application as a GR625 robot, but does not constitute a limitation of the present application.
1. Mathematical model of robot repeated positioning precision
Taking the GR625 robot as an example to establish a mathematical model of the precision of its repeated positioning, fig. 3 is a schematic diagram of the dimensions of the joints of the GR625 robot according to another embodiment of the present application, and as shown in fig. 3, the unit may be millimeters. The obtained robot standard DH parameters are shown in table 1, where table 1 is a parameter table of a GR625 robot model according to the related art, and joints 1, 2, 3, 4, 5, and 6 in table 1 are six joints of the GR625 robot from top to bottom in fig. 3, respectively.
TABLE 1
Figure BDA0001855755930000071
The error sources at the end of the robot can be divided into three categories, the first category is the geometric error of the robot caused by manufacturing, assembly and the like, the second category is the non-geometric error caused by temperature, gear engagement, joint flexibility and the like, and the third category is the random error caused by the instability of a servo system, the resolution of an encoder, joint clearance and the like. The geometric error accounts for about 90% of the total error of the robot end, and the rest accounts for about 10%. The repeated positioning precision of the robot is mainly influenced by random errors, and the repeated positioning precision of the robot cannot be influenced by static errors of geometric errors.
And establishing a robot repeated positioning precision mathematical model based on the facts. By using the speed analysis method of the robot, the relation between the attitude error of the tail end of the robot and the random motion error of each joint can be obtained as follows:
dd θ equation (1)
Wherein dT is the tail end attitude error, J is the Jacobian matrix and depends on the space attitude of the robot, and d theta is the random motion error of each joint.
According to the property of the multi-dimensional random variable linear function, when d theta1，dθ2，dθ3，dθ4，dθ5，dθ6Mean square error of terminal attitude error independent of each other
Figure BDA0001855755930000081
And mean square error of joint random motion error
Figure BDA0001855755930000082
The relationship between them is:
Figure BDA0001855755930000083
the distribution state of the joint random motion errors is mainly determined by a servo system used by the robot, and for a servo driving system which is widely applied and is provided with an encoder, the joint random motion errors obey normal distribution with the average value of 0. When the robot is in a certain posture, the jacobian matrix is constant, so the robot tip position error dx, dy, dz also follows a normal distribution with a mean value of 0, that is:
dx～N(0,σx 2) dy～N(0,σy 2) dz～N(0,σz 2)
according to the 3 σ principle of normally distributing random variables, it can be known that:
dx∈[-3σx,3σx]
Figure BDA0001855755930000084
dz∈[-3σz,3σz]
if using repeated positioning error rpRepresenting the maximum deviation between a series of end reproduction positions of the robot in a certain attitude in space, then:
Figure BDA0001855755930000091
if using Δ θjRepresenting the bandwidth of the half tolerance band of random motion error of joint j, then:
Δθj＝3σj
Figure BDA0001855755930000092
definition of the repeat location accuracy RpFor the maximum repetitive positioning error of the robot tip in the whole working space, then:
Figure BDA0001855755930000093
where Ω is the working space of the robot.
2. Influence of robot space attitude on repeated positioning accuracy
When joint random motion error half tolerance band width delta thetajAt a certain time, the repeated positioning precision of the robot is different in different spatial postures. Taking the GR625 robot as an example, all postures of the robot in the space are uniformly collected, the repeated positioning accuracy of the tail end of the robot in the whole working space is calculated, and the calculation result is shown in fig. 4, where fig. 4 is based on the principle thatIn fig. 4 and 5, the repeated positioning accuracy of the edge region is the lowest, and the repeated positioning accuracy of the region near the center of the drawing is higher, so that the repeated positioning accuracy of the robot is the lowest when the tail end of the robot is positioned at the boundary of the working space, and the repeated positioning accuracy of the robot is higher near the middle part of the robot.
The pose at which the robot has the lowest repositioning accuracy is shown in fig. 6, and fig. 6 is a schematic view of the pose of the robot with the lowest repositioning accuracy according to another embodiment of the present application, as shown in fig. 6, when the end of the robot reaches the boundary of the workspace. Calculating the repeated positioning accuracy of the robot in the whole working space for multiple times, finding out the posture of the robot when the repeated positioning accuracy is the lowest, and performing statistical analysis on the posture data, wherein the angle data of each joint of the robot is shown in fig. 7, fig. 7 is a posture distribution diagram of the lowest repeated positioning accuracy according to another embodiment of the application, and as shown in fig. 7, six columns from left to right are theta sequentially1,θ2,θ3,θ4,θ5,θ6Theta when the robot is in the attitude of the lowest repetitive positioning accuracy2,θ3,θ5Centered around a certain value, and theta1,θ4,θ6Are uniformly distributed, so that the theta can be presumed1,θ4,θ6The minimum repeated positioning precision posture of the robot is not influenced.
3. Influence of tolerance band bandwidth of joint random motion error on repeated positioning precision
Taking GR625 robot as an example, the θ obtained by the above analysis*＝[0,0,-82.6°,0,0,0]The method is used as a reference attitude for analyzing the influence of the joint random motion error half tolerance band bandwidth on the repeated positioning precision. The variation range of the bandwidth proportionality coefficient K of each joint motion error half tolerance zone is 0.5-4. Let Delta thetajThe relationship between the repeat positioning error and the half tolerance band bandwidth proportionality coefficient of the motion error calculated according to the formula 4 is shown in fig. 8, which is 0.0002 °FIG. 8 is a graphical representation of the effect of the bandwidth of the half tolerance band of random joint motion error on repositioning accuracy, as illustrated in FIG. 8, where Δ θ is1,Δθ2,Δθ3Has a greater impact on the accuracy of the repeated positioning and increases with increasing bandwidth of the half-tolerance band, where Δ θ1The greatest effect on the accuracy of the repeated positioning is, secondly, Δ θ2Again, is Δ θ3。Δθ4,Δθ5,Δθ6The influence on the repeated positioning precision is not large. Therefore, when the robot is designed with repeated positioning accuracy, the stability of the front three joints is mainly considered to be improved.
In practical application, the repeated positioning precision of the servo motor is about 5-10 times of the resolution of the encoder, and the error is reflected on the joint motion error of the robot through the speed reducer. When designing the robot, the sum-subtraction ratio R of the resolution P of the servo motor encoder can be used as an estimated value of the bandwidth of the joint random motion error half tolerance band, namely:
Figure BDA0001855755930000111
4. influence of robot joint size on repositioning accuracy
The robot size has an impact on the accuracy of the repeated positioning. Generally, the larger the size of the robot, the worse the accuracy of its repeated positioning. Taking the GR625 robot as an example, the dimensions of each joint of the robot are used as factors affecting the accuracy of the robot in the repeated positioning. Obtained by taking the above analysis
Figure BDA0001855755930000112
The robot joint size is used as a reference attitude for analyzing the influence of the robot joint size on the repeated positioning precision. The variation range of the proportional coefficient K of each joint is 0.5-2. Let Delta thetajFig. 9 shows a relationship between a repetition positioning error calculated according to formula 4 and a robot joint dimension proportionality coefficient, where fig. 9 is a schematic diagram illustrating an influence of a joint dimension of a robot on repetition positioning accuracy according to another embodiment of the present application, and as shown in fig. 9, the influence of the joint dimension on the repetition positioning accuracy sequentially includes d4, a2, a3, and d from large to small6. a1, d 1. Where both d4 and a2 have the greatest impact on the accuracy of the repositioning relative to the other dimensions, being the primary factors of influence. And d1 has little effect on the accuracy of the repeated positioning. The calculation results suggest that the sizes of d4 and a2 should be reduced as much as possible in order to improve the robot repositioning accuracy, but this reduces the working space of the robot, so that various factors should be comprehensively considered when designing the robot.
Fig. 10 is a schematic diagram illustrating the influence of the sizes of all joints of the robot on the repositioning accuracy according to another embodiment of the present application, and when all joints are changed proportionally, as shown in fig. 10, the repositioning accuracy of the robot is also changed proportionally.
The GR625 robot is taken as an example to calculate the calculation method in the present application. It should be noted that the parameters of different robots are different, and the calculation results are different.
1. According to the method, the influence of the servo motor encoder on the repeated positioning precision is analyzed by taking the resolution of the servo motor encoder as an influence factor, the influence of the motor control precision of the front three shafts on the repeated positioning precision is large when a calculation result shows, and the influence of the rear three shafts on the repeated positioning precision is small.
2. According to the method, the influence of the robot joint size on the repeated positioning precision is analyzed by taking the robot joint size as an influence factor, the calculation result shows that the influences of the sizes of d4 and a2 on the repeated positioning precision are the largest, and the influences of the other sizes are small.
By adopting the scheme, a set of robot repeated positioning precision calculation method is developed, and quantitative analysis on repeated positioning precision influence caused by related parameter errors is realized, so that research and development and production are guided.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
Example two
In this embodiment, an adjusting device for a robot is further provided, and the device is used to implement the above embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
According to another embodiment of the present application, there is also provided an adjusting apparatus of a robot, including:
the acquisition module is used for setting the robot according to a first value of a first joint parameter and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple times of activities when the robot is in a target posture in space;
and the adjusting module is used for adjusting the value of the first joint parameter under the condition that the first repeated positioning error does not meet a first preset condition, so that the second repeated positioning error of the adjusted robot meets the preset condition.
Through this application, set up the robot according to the first value of first joint parameter, acquire the first repeated positioning error of robot under the condition that first repeated positioning error does not satisfy first preset condition, adjust the value of first joint parameter to make the repeated positioning error of the robot after the adjustment accord with first preset condition, adopt above-mentioned scheme, through a large amount of analysis, accurately acquire the great joint parameter of repeated positioning error influence to the robot, in time adjust these parameters, in order to guarantee the repeated positioning error of robot.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
EXAMPLE III
Embodiments of the present application also provide a storage medium. Alternatively, in the present embodiment, the storage medium may be configured to store program codes for performing the following steps:
s1, setting the robot according to the first value of the first joint parameter, and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple movements when the robot is in a target posture in space;
and S2, under the condition that the first repeated positioning error does not meet a first preset condition, adjusting the value of the first joint parameter so that the second repeated positioning error of the adjusted robot meets the first preset condition.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Embodiments of the present application further provide an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, setting the robot according to the first value of the first joint parameter, and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple movements when the robot is in a target posture in space;
and S2, under the condition that the first repeated positioning error does not meet a first preset condition, adjusting the value of the first joint parameter so that the second repeated positioning error of the adjusted robot meets the first preset condition.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (7)

1. A method of adjusting a robot, comprising:
setting the robot according to a first value of a first joint parameter, and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the terminal reproduction positions of the robot in multiple movements when the robot is in a target posture in space;
under the condition that the first repeated positioning error does not meet a first preset condition, adjusting the value of the first joint parameter to enable the second repeated positioning error of the adjusted robot to meet the first preset condition;
before the robot is set according to the first value of the first joint parameter, the method comprises the following steps: acquiring a joint parameter of which the influence effect on the repeated positioning error meets a second preset condition from a plurality of joint parameters, and determining the joint parameter as the first joint parameter;
acquiring a joint parameter, of which the effect on the repeated positioning error meets a second preset condition, from a plurality of joint parameters, and determining the joint parameter as the first joint parameter, wherein the method comprises the following steps: obtaining a first scale coefficient influencing the repeated positioning error in a plurality of joint parameters, wherein the first scale coefficient is a random motion error tolerance band bandwidth which is used for representing the stability of the joint; and acquiring a joint with the first scale coefficient larger than a threshold value as a first joint, wherein the bandwidth of a random motion error tolerance zone of the first joint is used as the first joint parameter.
2. The method of claim 1, wherein adjusting the value of the first joint parameter in the event that the first repositioning error does not satisfy a first predetermined condition comprises:
and when the first repeated positioning error is larger than a threshold value, adjusting the value of the first joint parameter.
3. The method of claim 1, wherein after adjusting the value of the first joint parameter in a case where the first repositioning error does not satisfy a first predetermined condition, the method further comprises:
acquiring and adjusting the value of the first joint parameter to be a second value;
and setting the robot according to the second value, acquiring a second repeated positioning error of the robot, and detecting whether the second repeated positioning error meets the first preset condition.
4. The method according to claim 1, wherein obtaining, among a plurality of joint parameters, a joint parameter whose effect on the repeated positioning error satisfies a second preset condition, determined as the first joint parameter, comprises:
acquiring a second proportionality coefficient that joint sizes of a plurality of joints affect the repeated positioning error;
and acquiring the joint of which the second proportionality coefficient is greater than the threshold value as a first joint, wherein the joint size of the first joint is the first joint parameter.
5. An adjustment device for a robot, comprising:
the acquisition module is used for setting the robot according to a first value of a first joint parameter and acquiring a first repeated positioning error of the robot, wherein the repeated positioning error is used for representing the maximum deviation between the reproduction positions of the tail end of the robot in multiple times of activities when the robot is in a target posture in space;
the adjusting module is used for adjusting the value of the first joint parameter under the condition that the first repeated positioning error does not meet a first preset condition, so that the second repeated positioning error of the adjusted robot meets the preset condition; before setting up the robot according to the first value of first joint parameter, include: acquiring a joint parameter of which the influence effect on the repeated positioning error meets a second preset condition from a plurality of joint parameters, and determining the joint parameter as the first joint parameter;
acquiring a joint parameter, of which the effect on the repeated positioning error meets a second preset condition, from a plurality of joint parameters, and determining the joint parameter as the first joint parameter, wherein the method comprises the following steps: obtaining a first scale coefficient influencing the repeated positioning error in a plurality of joint parameters, wherein the first scale coefficient is a random motion error tolerance band bandwidth which is used for representing the stability of the joint; and acquiring a joint with the first scale coefficient larger than a threshold value as a first joint, wherein the bandwidth of a random motion error tolerance zone of the first joint is used as the first joint parameter.
6. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 4 when executed.
7. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 4.
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