CN110053050A - The compensation method of robot trajectory's precision and device, storage medium, processor - Google Patents
The compensation method of robot trajectory's precision and device, storage medium, processor Download PDFInfo
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- CN110053050A CN110053050A CN201910324621.8A CN201910324621A CN110053050A CN 110053050 A CN110053050 A CN 110053050A CN 201910324621 A CN201910324621 A CN 201910324621A CN 110053050 A CN110053050 A CN 110053050A
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Classifications
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- 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
Abstract
The invention discloses a kind of compensation method of robot trajectory's precision and device, storage medium, processors.Wherein, this method comprises: determining the micro-elasticity deformation parameter that each joint of robot generates under the action of controller, wherein micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of robot；Actual rotation angle of each joint of robot under the action of controller is compensated using micro-elasticity deformation parameter, obtain the expectation rotational angle in each joint of robot, wherein, it is expected that rotational angle is the angle that each joint needs to rotate when robot works under predetermined operating condition.The present invention solve robot in the related technology path accuracy it is lower caused by robot the lower technical problem of adaptability.
Description
Technical field
The present invention relates to robot application technology fields, in particular to a kind of compensation side of robot trajectory's precision
Method and device, storage medium, processor.
Background technique
Currently, the kind of drive of most of industrial robots is all the transmission that motor adds gear (or synchronous belt) acceleration and deceleration machine
Structure, since motor, gear (synchronous belt), speed reducer all have a degree of flexibility, robot during the motion, is added and subtracted
The variation of speed, connecting rod self weight and load can all be such that joint of robot is deformed, and then influence the precision of robot, especially
Path accuracy.Existing precision calibration algorithm is all based on positioning accuracy mostly, compensates D-H parameter, this is to raising robot
Positioning accuracy effect is it will be apparent that not being significantly improved for improving path accuracy still.
For above-mentioned robot in the related technology path accuracy it is lower caused by robot the lower problem of adaptability,
Currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of compensation method of robot trajectory's precision and device, storage medium, processor,
The lower technical problem of the adaptability of the lower caused robot of path accuracy at least to solve robot in the related technology.
According to an aspect of an embodiment of the present invention, a kind of compensation method of robot trajectory's precision is provided, comprising: really
Determine the micro-elasticity deformation parameter that each joint of robot generates under the action of controller, wherein the micro-elasticity deformation ginseng
Number is the rotational angle deviation as caused by the flexibility in each joint of the robot；Using the micro-elasticity deformation parameter to institute
It states actual rotation angle of each joint of robot under the action of the controller to compensate, obtains the robot
The expectation rotational angle in each joint, wherein the expectation rotational angle is that the robot is each when working under predetermined operating condition
A joint needs the angle rotated.
Optionally it is determined that the micro-elasticity deformation parameter that each joint of robot generates under the action of controller includes:
Determine the joint stiffness in each joint of the robot；Obtain the joint moment in each joint of the robot；Based on institute
The joint stiffness in each joint and the joint moment in each joint are stated, determines each joint of the robot described
The micro-elasticity deformation parameter generated under the action of controller.
Optionally, the joint moment of joint stiffness and each joint based on each joint, determine described in
The micro-elasticity deformation parameter that each joint of robot generates under the action of the controller includes: to be determined by the first formula
The micro-elasticity deformation parameter that each joint of the robot generates under the action of the controller, wherein described first is public
Formula are as follows: Δ θ=T/K, wherein Δ θ indicates that micro-elasticity deformation parameter, K indicate the joint stiffness in each joint, and T indicates institute
State the joint moment in each joint.
Optionally it is determined that the joint stiffness in each joint of the robot comprises determining that each pass of the robot
The rigidity of device in section；Each joint of the robot is determined based on the rigidity of the device in each joint of the robot
Joint stiffness.
Optionally, the device includes at least one of: motor, gear, speed reducer.
Optionally, in the case where the device includes the gear, the gear in each joint of the robot is determined
Rigidity comprise determining that the robot each joint gear in each gear teeth rigidity；According to each of the robot
The rigidity of each gear teeth determines the rigidity of the gear in each joint of the robot in the gear in a joint.
Optionally it is determined that the rigidity of each gear teeth includes: by the second public affairs in the gear in each joint of the robot
Formula determines the rigidity of each gear teeth in the gear in each joint of the robot, wherein second formula are as follows:Wherein, KTooth iIndicate the rigidity of i-th of gear teeth, a indicates the inside pitch line length of the gear teeth of i-th of gear, and b is indicated
The end face width of the gear teeth of i-th of gear, h indicate that the tooth root width of the gear teeth of i-th of gear, E indicate the elasticity of i-th of gear
Modulus, l indicate the pitch diameter of i-th of gear.
It optionally, include: motor in the device, gear, in the case where speed reducer, each pass based on the robot
The rigidity of the device of section determines that the joint stiffness in each joint of the robot includes: to determine the machine by third formula
The joint stiffness in each joint of people, wherein the third formula are as follows:Wherein, K indicates joint stiffness,
K1Indicate the joint stiffness of the motor, K2Indicate the joint stiffness of the gear, K3Indicate the joint stiffness of the speed reducer.
Optionally, the joint moment for obtaining each joint of the robot includes: controller by the robot
The joint moment in each joint of the robot is read in real time.
Another aspect according to an embodiment of the present invention, additionally provides a kind of compensation device of robot trajectory's precision,
Comprise determining that unit, the micro-elasticity deformation parameter generated under the action of controller for determining each joint of robot,
In, the micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of the robot；Compensation is single
Member, for the reality using the micro-elasticity deformation parameter to each joint of the robot under the action of controller
Rotational angle compensates, and obtains the expectation rotational angle in each joint of the robot, wherein the expectation rotational angle
Each joint needs the angle rotated when working under predetermined operating condition for the robot.
Optionally, the determination unit includes: first to determine subelement, for determining each joint of the robot
Joint stiffness；Obtain subelement, the joint moment in each joint for obtaining the robot；Second determines subelement, uses
In the joint moment of joint stiffness and each joint based on each joint, each pass of the robot is determined
Save the micro-elasticity deformation parameter generated under the action of the controller.
Optionally, described second determine that subelement includes: the first determining module, for determining the machine by the first formula
The micro-elasticity deformation parameter that each joint of device people generates under the action of the controller, wherein first formula are as follows: Δ
θ=T/K, wherein Δ θ indicates that micro-elasticity deformation parameter, K indicate the joint stiffness in each joint, and T indicates each pass
The joint moment of section.
Optionally, described first determine that subelement includes: the second determining module, for determining each pass of the robot
The rigidity of device in section；The rigidity of third determining module, the device for each joint based on the robot determines institute
State the joint stiffness in each joint of robot.
Optionally, the device includes at least one of: motor, gear, speed reducer.
Optionally, second determining module includes: the first determining submodule, for including the gear in the device
In the case where, determine the rigidity of each gear teeth in the gear in each joint of the robot；Second determines submodule, is used for root
The gear in each joint of the robot is determined according to the rigidity of each gear teeth in the gear in each joint of the robot
Rigidity.
Optionally, described first determine that submodule includes: that third determines submodule, described in determining by the second formula
The rigidity of each gear teeth in the gear in each joint of robot, wherein second formula are as follows:Wherein,
KTooth iIndicate the rigidity of i-th of gear teeth, a indicates the inside pitch line length of the gear teeth of i-th of gear, and b indicates the gear teeth of i-th of gear
End face width, h indicate that the tooth root width of the gear teeth of i-th of gear, E indicate that the elasticity modulus of i-th of gear, l indicate i-th of tooth
The pitch diameter of wheel.
Optionally, the third determining module includes: the 4th determining submodule, for including: motor, tooth in the device
In the case where speed reducer, the joint stiffness in each joint of the robot is determined by third formula for wheel, wherein described the
Three formula are as follows:Wherein, K indicates joint stiffness, K1Indicate the joint stiffness of the motor, K2Described in expression
The joint stiffness of gear, K3Indicate the joint stiffness of the speed reducer.
Optionally, the acquisition subelement includes: read module, for being read in real time by the controller of the robot
The joint moment in each joint of the robot.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, the storage medium includes
The program of storage, wherein described program execute it is any one of above-mentioned described in robot trajectory's precision compensation method.
Another aspect according to an embodiment of the present invention, additionally provides a kind of processor, the processor is for running
Program, wherein described program run when execute it is any one of above-mentioned described in robot trajectory's precision compensation method.
In embodiments of the present invention, using the micro-elasticity for determining that each joint of robot generates under the action of controller
Deformation parameter, wherein micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of robot；It utilizes
Micro-elasticity deformation parameter compensates actual rotation angle of each joint of robot under the action of controller, obtains machine
The expectation rotational angle in each joint of device people, wherein expectation rotational angle is that robot is each when working under predetermined operating condition
Joint needs the mode of angle rotated, the compensation method of the robot trajectory's precision provided through the embodiment of the present invention, can be with
Rotational angle deviation caused by the flexibility in each joint based on robot compensates the path accuracy of robot, realizes
The technical effect of the path accuracy of robot is improved, and then the path accuracy for solving robot in the related technology is lower caused
The lower technical problem of the adaptability of robot.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the compensation method of robot trajectory's precision according to an embodiment of the present invention；
Fig. 2 is the flow chart of the compensation method of optional robot trajectory's precision according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of the compensation device of robot trajectory's precision according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for the compensation method of robot trajectory's precision is provided, is needed
Illustrate, step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Fig. 1 is the flow chart of the compensation method of robot trajectory's precision according to an embodiment of the present invention, as shown in Figure 1, should
The compensation method of robot trajectory's precision includes the following steps:
Step S102 determines the micro-elasticity deformation parameter that each joint of robot generates under the action of controller,
In, micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of robot.
For example, when robot needs to be implemented high-speed welding task, when robot possesses higher positioning accuracy,
Also need path accuracy with higher.When each joint of robot under the action of controller by power after, fortune can be generated
It is dynamic；If power suffered by robot is to wish that robot is rotated by 90 °；Since the self attributes in each joint of robot make
Each joint of robot can generate rotational angle deviation under the action of flexibility, for example, power suffered by robot can make machine
Each joint of device people due to 95 ° of flexible factor actual rotation, then, each joint of robot is under the action of controller
Produce 5 ° of micro-elasticity deformation, that is, the rotational angle deviation as caused by the flexibility in each joint of robot is 5 °.
Step S104 turns reality of each joint of robot under the action of controller using micro-elasticity deformation parameter
Dynamic angle compensates, and obtains the expectation rotational angle in each joint of robot, wherein expectation rotational angle is that robot exists
Each joint needs the angle rotated when working under predetermined operating condition.
Rotational angle deviation is caused by the flexibility in each joint of robot in above-mentioned steps S102, then, to mention
Precision of the high robot when executing high-speed welding task, it is necessary to each joint of robot under the action of controller
Actual rotation angle compensates, which includes: the angle of rotation as caused by the flexibility in each joint of robot
Spend the angle of the rotation in each joint of the expectation of power suffered by each joint of deviation and robot robot.That is, robot
When by power, due to the flexible factor in each joint of robot, so that the actual rotation angle of robot and expectation rotation
A deviation is had between angle.In step S104, the rotational angle deviation pair obtained in step s 102 is mainly utilized
Actual rotation angle of each joint of robot under the action of controller compensates.
Through the above steps, the micro-elasticity deformation that each joint of robot generates under the action of controller can be determined
Parameter, wherein micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of robot；Utilize micro- bullet
Property deformation parameter compensates actual rotation angle of each joint of robot under the action of controller, obtains robot
Each joint expectation rotational angle, wherein expectation rotational angle is robot each joint when working under predetermined operating condition
The angle for needing to rotate.Relative in the related technology to robot carry out precision calibration when, be all only capable of based on positioning accuracy mend
D-H parameter is repaid, only the positioning accuracy for improving robot is played a role, and it is not bright for the path accuracy for improving robot
Aobvious effect causes robot for some operating conditions, for example, high-speed welding, high speed Trajectory Catastrophe tracking etc., reliability is lower.
In embodiments of the present invention, can rotational angle deviation caused by the flexibility based on each joint of robot to the rail of robot
Mark precision compensates, and realizes the technical effect for improving the path accuracy of robot, and then solve machine in the related technology
The lower technical problem of the adaptability of robot caused by the path accuracy of people is lower.
In step s 102, the micro-elasticity deformation parameter that each joint of robot generates under the action of controller is determined
It may include: the joint stiffness in each joint of determining robot；Obtain the joint moment in each joint of robot；Based on each
The joint moment in the joint stiffness in a joint and each joint determines that each joint of robot produces under the action of controller
Raw micro-elasticity deformation parameter.
Wherein, the joint moment of joint stiffness and each joint based on each joint, determines each pass of robot
Saving the micro-elasticity deformation parameter generated under the action of controller may include: each pass that robot is determined by the first formula
Save the micro-elasticity deformation parameter generated under the action of controller, wherein the first formula are as follows: Δ θ=T/K, wherein Δ θ is indicated
Micro-elasticity deformation parameter, K indicate the joint stiffness in each joint, and T indicates the joint moment in each joint.In this embodiment,
Existed by each joint of the available robot of joint moment of the joint stiffness and each joint in each joint of robot
The micro-elasticity deformation parameter generated under the action of controller, that is, rotational angle deviation.
Specifically, it is determined that the joint stiffness in each joint of robot comprises determining that the device in each joint of robot
The rigidity of part；Based on the device in each joint of robot rigidity determine robot each joint joint stiffness.Due to
It will include multiple devices in each joint of robot, and since the self attributes of this multiple device may be different, then,
For the rigidity in each joint of the robot improved, can be determined based on the rigidity of the device in each joint of robot
The joint stiffness in each joint of robot, to largely improve the joint stiffness in each joint of robot.
Preferably, above-mentioned device may include at least one of: motor, gear, speed reducer.On it should be noted that
State device be not limited to it is above several, or other devices.
For example, in the case where above-mentioned device includes gear, determine that the rigidity of the gear in each joint of robot can be with
Comprise determining that the rigidity of each gear teeth in the gear in each joint of robot；According in the gear in each joint of robot
The rigidity of each gear teeth determines the rigidity of the gear in each joint of robot.
Further, it is determined that the rigidity of each gear teeth may include: by second in the gear in each joint of robot
Formula determines the rigidity of each gear teeth in the gear in each joint of robot, wherein the second formula are as follows:Its
In, KTooth iIndicate the rigidity of i-th of gear teeth, a indicates the inside pitch line length of the gear teeth of i-th of gear, and b indicates the gear teeth of i-th of gear
End face width, h indicate i-th of gear the gear teeth tooth root width, E indicate i-th of gear elasticity modulus, l indicate i-th
The pitch diameter of gear.
It should be noted that due to the sum of the rigidity for all gear teeth that the rigidity of gear can be determined as to the gear, because
This, in the gear in each joint for determining robot after the rigidity of each gear teeth, can determine the tooth by the 4th formula
The rigidity of wheel, wherein the 4th formula are as follows: KGear=∑ KTooth i, KGearIndicate the rigidity of some gear, ∑ KTooth iIndicate i in some gear
The sum of the rigidity of a gear teeth.
It preferably, include: motor in above-mentioned device, gear, in the case where speed reducer, due to motor, gear and deceleration
What machine was linked together in the form of concatenated in the transmission chain in each joint of robot, then, based on each of robot
The rigidity of the device in joint determines that the joint stiffness in each joint of robot may include: to determine robot by third formula
Each joint joint stiffness, wherein third formula are as follows:Wherein, K indicates joint stiffness, K1It indicates
The joint stiffness of motor, K2Indicate the joint stiffness of gear, K3Indicate the joint stiffness of speed reducer.
In addition, the joint moment for obtaining each joint of robot may include: to be read in real time by the controller of robot
Take the joint moment in each joint of robot.
An optional embodiment of the present invention is described in detail with reference to the accompanying drawing.
Fig. 2 is the flow chart of the compensation method of optional robot trajectory's precision according to an embodiment of the present invention, such as Fig. 2 institute
Show, comprising:
Step S201, in real time from controller each joint of read machine people joint moment.That is, real-time by controller
The joint moment T of read machine people during the motion.Specifically, the controller of modern machines people is designed with open interface, from
And the torque T in each joint of real-time read machine people may be implemented.
Step S202 determines the global stiffness in each joint of robot.For example, the artificial six-joint robot of the machine, then
The joint stiffness in each joint in six joints of six-joint robot can be determined, thus six based on the six-joint robot passes
The available above-mentioned global stiffness of the joint stiffness of each shutdown in section.It should be noted that in each joint Zhong Bao of robot
Include: in the case where gear, speed reducer and motor, the rigidity of motor can be obtained from choice of electrical machine handbook, speed reducer it is rigid
Degree can be obtained from speed reducer type selecting handbook, and the rigidity of gear the middle mode recorded can obtain based on the above embodiment,
This is repeated no more.
Step S203, the real-time computer device people micro-elasticity deformation parameter that each joint generates in the process of running.Specifically
Ground, the robot micro-elasticity deformation parameter that each joint generates in the process of running can be calculated by above-mentioned first formula
It arrives, details are not described herein.
Step S204 utilizes obtained micro-elasticity deformation parameter feelings of each joint of real-time compensation in stress in the controller
Since the actual rotation angle of flexible factor robot compensates under condition.
Step S205, determines whether the path accuracy of compensated robot meets the expectation rotational angle of robot.?
Judging result is in the case where being, to execute step S206；Conversely, return step S202.
Step S206 completes robot trajectory's accuracy compensation.That is, completing the actual rotation angle compensation to robot.
Through the above steps, the deformation of the micro-elasticity due to caused by the flexibility of joint of robot is found out in real time, is then being controlled
Actual rotation angle is compensated using micro-elasticity deformation parameter in real time in device, finally completes robot trajectory's accuracy compensation, significantly
Improve robot trajectory's precision.
In addition, the compensation method of the robot trajectory's precision provided through the embodiment of the present invention can robot possess compared with
In the case where high positioning accuracy, by compensating its path accuracy, the overall accuracy performance of robot is improved, it is widened and uses field
It closes, for example, high-speed welding, high speed Trajectory Catastrophe tracking etc., the operating condition that the path accuracy of some pairs of robots has high requirements.
Embodiment 2
Another aspect according to an embodiment of the present invention, additionally provides a kind of compensation device of robot trajectory's precision,
Fig. 3 is the schematic diagram of the compensation device of robot trajectory's precision according to an embodiment of the present invention, as shown in figure 3, the robot rail
The compensation device of mark precision comprises determining that unit 31 and compensating unit 33.The compensation of robot trajectory's precision is filled below
It sets and is described in detail.
Determination unit 31, the micro-elasticity deformation ginseng generated under the action of controller for determining each joint of robot
Number, wherein micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of robot.
Compensating unit 33, for using micro-elasticity deformation parameter to each joint of robot under the action of controller
Actual rotation angle compensates, and obtains the expectation rotational angle in each joint of robot, wherein expectation rotational angle is machine
Device people needs the angle rotated in each joint when working under predetermined operating condition.
In this embodiment it is possible to determine that each joint of robot generates under the action of controller using determination unit
Micro-elasticity deformation parameter, wherein micro-elasticity deformation parameter be the rotational angle as caused by the flexibility in each joint of robot
Deviation；And reality of the micro-elasticity deformation parameter to each joint of robot under the action of controller is utilized based on compensating unit
Rotational angle compensates, and obtains the expectation rotational angle in each joint of robot, wherein expectation rotational angle is robot
Each joint needs the angle rotated when working under predetermined operating condition.Relative in the related technology to robot progress precision mark
Periodically, it is all only capable of compensating D-H parameter based on positioning accuracy, only the positioning accuracy for improving robot is played a role, and for
The path accuracy for improving robot does not act on significantly, causes robot for some operating conditions, for example, high-speed welding, high speed
Trajectory Catastrophe tracking etc., reliability is lower.In embodiments of the present invention, can be caused based on the flexibility in each joint of robot
Rotational angle deviation the path accuracy of robot is compensated, realize improve robot path accuracy technology effect
Fruit, and then the lower technology of adaptability for the lower caused robot of path accuracy for solving robot in the related technology is asked
Topic.
As a kind of optional embodiment, above-mentioned determination unit includes: the first determining subelement, for determining robot
The joint stiffness in each joint；Obtain subelement, the joint moment in each joint for obtaining robot；Second determines that son is single
Member determines that each joint of robot is being controlled for the joint moment of joint stiffness and each joint based on each joint
The micro-elasticity deformation parameter generated under the action of device processed.
As a kind of optional embodiment, above-mentioned second determines that subelement includes: the first determining module, for passing through first
Formula determines the micro-elasticity deformation parameter that each joint of robot generates under the action of controller, wherein the first formula are as follows:
Δ θ=T/K, wherein Δ θ indicates that micro-elasticity deformation parameter, K indicate the joint stiffness in each joint, and T indicates the pass in each joint
Save torque.
As a kind of optional embodiment, above-mentioned first determines that subelement includes: the second determining module, for determining machine
The rigidity of device in each joint of people；Third determining module, the rigidity of the device for each joint based on robot
Determine the joint stiffness in each joint of robot.
As a kind of optional embodiment, above-mentioned device includes at least one of: motor, gear, speed reducer.
As a kind of optional embodiment, above-mentioned second determining module includes: the first determining submodule, in device packet
In the case where including gear, the rigidity of each gear teeth in the gear in each joint of robot is determined；Second determines submodule, is used for
The rigidity of the gear in each joint of robot is determined according to the rigidity of each gear teeth in the gear in each joint of robot.
As a kind of optional embodiment, above-mentioned first determines that submodule includes: that third determines submodule, for passing through the
Two formula determine the rigidity of each gear teeth in the gear in each joint of robot, wherein the second formula are as follows:
Wherein, KTooth iIndicate the rigidity of i-th of gear teeth, a indicates the inside pitch line length of the gear teeth of i-th of gear, and b indicates the wheel of i-th of gear
The end face width of tooth, h indicate that the tooth root width of the gear teeth of i-th of gear, E indicate that the elasticity modulus of i-th of gear, l indicate i-th
The pitch diameter of a gear.
As a kind of optional embodiment, above-mentioned third determining module includes: the 4th determining submodule, in device packet
Include: in the case where speed reducer, the joint stiffness in each joint of robot is determined by third formula for motor, gear, wherein
Third formula are as follows:Wherein, K indicates joint stiffness, K1Indicate the joint stiffness of motor, K2Indicate gear
Joint stiffness, K3Indicate the joint stiffness of speed reducer.
As a kind of optional embodiment, above-mentioned acquisition subelement includes: read module, for the control by robot
The joint moment in each joint of the real-time read machine people of device.
Embodiment 3
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein program executes the compensation method of any one of above-mentioned robot trajectory's precision.
Embodiment 4
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
Wherein, the compensation method of any one of above-mentioned robot trajectory's precision is executed when program is run.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of compensation method of robot trajectory's precision characterized by comprising
Determine the micro-elasticity deformation parameter that each joint of robot generates under the action of controller, wherein the micro-elasticity
Deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of the robot；
Reality of each joint of the robot under the action of controller is turned using the micro-elasticity deformation parameter
Dynamic angle compensates, and obtains the expectation rotational angle in each joint of the robot, wherein the expectation rotational angle is
The robot needs the angle rotated in each joint when working under predetermined operating condition.
2. the method according to claim 1, wherein determining each joint of robot under the action of controller
The micro-elasticity deformation parameter of generation includes:
Determine the joint stiffness in each joint of the robot；
Obtain the joint moment in each joint of the robot；
The joint moment of joint stiffness and each joint based on each joint, determines each of the robot
The micro-elasticity deformation parameter that joint generates under the action of the controller.
3. according to the method described in claim 2, it is characterized in that, joint stiffness based on each joint and described each
The joint moment in a joint determines the micro-elasticity deformation that each joint of the robot generates under the action of the controller
Parameter includes:
The micro-elasticity deformation that each joint of the robot generates under the action of the controller is determined by the first formula
Parameter, wherein first formula are as follows: θ θ=T/K, wherein Δ θ indicates that micro-elasticity deformation parameter, K indicate each joint
Joint stiffness, T indicates the joint moment in each joint.
4. according to the method described in claim 2, it is characterized in that, determining the joint stiffness packet in each joint of the robot
It includes:
Determine the rigidity of the device in each joint of the robot；
Based on the device in each joint of the robot rigidity determine the robot each joint joint stiffness.
5. according to the method described in claim 4, it is characterized in that, the device includes at least one of: motor, gear,
Speed reducer.
6. according to the method described in claim 5, it is characterized in that, being determined in the case where the device includes the gear
The rigidity of the gear in each joint of the robot includes:
Determine the rigidity of each gear teeth in the gear in each joint of the robot；
Each joint of the robot is determined according to the rigidity of each gear teeth in the gear in each joint of the robot
The rigidity of gear.
7. according to the method described in claim 6, it is characterized in that, determining each in the gear in each joint of the robot
The rigidity of the gear teeth includes:
The rigidity of each gear teeth in the gear in each joint of the robot is determined by the second formula, wherein described second
Formula are as follows:Wherein, KTooth iIndicating the rigidity of i-th of gear teeth, a indicates the inside pitch line length of the gear teeth of i-th of gear,
B indicates that the end face width of the gear teeth of i-th of gear, h indicate that the tooth root width of the gear teeth of i-th of gear, E indicate i-th of gear
Elasticity modulus, l indicate i-th of gear pitch diameter.
8. according to the method described in claim 5, it is characterized in that, including: motor, gear, the feelings of speed reducer in the device
Under condition, based on the device in each joint of the robot rigidity determine the robot each joint joint stiffness packet
It includes:
The joint stiffness in each joint of the robot is determined by third formula, wherein the third formula are as follows:Wherein, K indicates joint stiffness, K1Indicate the joint stiffness of the motor, K2Indicate the pass of the gear
Save rigidity, K3Indicate the joint stiffness of the speed reducer.
9. according to the method described in claim 2, it is characterized in that, obtaining the joint moment packet in each joint of the robot
It includes:
Read the joint moment in each joint of the robot in real time by the controller of the robot.
10. a kind of compensation device of robot trajectory's precision characterized by comprising
Determination unit, the micro-elasticity deformation parameter generated under the action of controller for determining each joint of robot,
In, the micro-elasticity deformation parameter is the rotational angle deviation as caused by the flexibility in each joint of the robot；
Compensating unit, for using the micro-elasticity deformation parameter to each joint of the robot the controller work
Actual rotation angle under compensates, and obtains the expectation rotational angle in each joint of the robot, wherein the phase
Hope that rotational angle is the angle that each joint needs to rotate when the robot works under predetermined operating condition.
11. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 9 described in robot trajectory's precision compensation method.
12. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 9 described in robot trajectory's precision compensation method.
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