CN110181509A - A kind of industrial robot motion control method based on error compensation - Google Patents
A kind of industrial robot motion control method based on error compensation Download PDFInfo
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- CN110181509A CN110181509A CN201910398537.0A CN201910398537A CN110181509A CN 110181509 A CN110181509 A CN 110181509A CN 201910398537 A CN201910398537 A CN 201910398537A CN 110181509 A CN110181509 A CN 110181509A
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to industrial robot motion control technology fields, and disclose a kind of industrial robot motion control method based on error compensation, the following steps are included: S1: establishment of coordinate system: after obtaining the upper movement of robot, position when end effector in robot stops, and establish coordinate system；S2: parameterized template is established: establishing the kinematics parameters model of robot；S3: motion profile is established: according to the terminal of the wanted movement position of robot, choosing in coordinate system is a little its exercise end, and establishes motion profile between robot stop place and exercise end: S4: Motor execution: robot is moved according to the motion profile of foundation.The industrial robot motion control method based on error compensation is able to solve at present since the gravity of robot itself, inertia force and institute are affected by a load, so that the actual path of robot will deviate from desired trajectory, the problem of reducing processing quality.
Description
Technical field
The present invention relates to industrial robot motion control technology field, specially a kind of industrial machine based on error compensation
People's motion control method.
Background technique
Industrial robot is as automated arm, due to itself higher repeatable accuracy and operational stability, extensively
It is general to be applied to the industrial circles such as shipbuilding, automobile, aviation.In the machining processes such as milling, welding, often through presetting
The motion profile of robot with realize part processing and weld seam fusion etc., but the gravity due to robot itself, inertia force and
Institute is affected by a load, so that the actual path of robot will deviate from desired trajectory, reduces processing quality.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the industrial robot motion controlling party based on error compensation that the present invention provides a kind of
Method has the advantages of compensating to error, solves at present due to the gravity of robot itself, inertia force and suffered load
Influence so that the actual path of robot will deviate from desired trajectory, the problem of reducing processing quality.
(2) technical solution
To realize the purpose that compensates to error, the invention provides the following technical scheme: a kind of based on error compensation
Industrial robot motion control method, comprising the following steps:
S1: establishment of coordinate system: after obtaining the upper movement of robot, the place when end effector in robot stops
Position, and establish coordinate system；
S2: parameterized template is established: establishing the kinematics parameters model of robot；
S3: it establishes motion profile: according to the terminal of the wanted movement position of robot, choosing in coordinate system and a little moved for it
Terminal, and motion profile is established between robot stop place and exercise end:
S4: Motor execution: robot is moved according to the motion profile of foundation, after robot motion receives, end
Actuator will compare institute stop place with original setting position at this time, judge its error amount；
S5: error compensation: when error amount is greater than preset value, robot motion's repetitive operation S1-S4 step is driven, according to machine
The motion profile and parameter of the kinematic parameter model specification robot next step of device people, compensate error, until robot
The error amount of post-movement position is less than preset value；When error amount is less than preset value, robot is performed the next step suddenly.
Preferably, when S1 step robot does two dimensional motion, the coordinate system established is plane coordinate system, robot
When doing three-dimensional motion, the coordinate system established is space coordinates.
Preferably, the kinematics parameters model of robot includes kinematics sequences, Jacobian matrix in the S2 step
And Hessian matrix；According to the joint stiffness of robot, in conjunction with Jacobian matrix and conservative rigidity replacement theory, establish robot by
The stiffness matrix K of gravity, inertia force and external force；On the basis of kinematics and rigidity, the kinetic model of robot is established.
Preferably, when establishing motion profile in the S3 step while a plurality of motion profile is established, according to foreign object interference, rail
Mark is most short to choose optimal motion profile route for alternative condition.
Preferably, in the S4 step when robot motion, end effector is according to the walked route of robot and S3 step
Middle motion profile is confirmed, when route mismatches, robot stop motion.
(3) beneficial effect
Compared with prior art, the industrial robot motion control method based on error compensation that the present invention provides a kind of,
Have it is following the utility model has the advantages that
The industrial robot motion control method based on error compensation, by being compensated to Motion Errors,
The gravity, inertia force and institute for reducing robot itself are affected by a load, thus to the precision and error of its motion profile
It compensates, improves the processing quality of its product.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the industrial robot motion control method based on error compensation proposed by the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of industrial robot motion control method based on error compensation, comprising the following steps:
S1: establishment of coordinate system: after obtaining the upper movement of robot, the place when end effector in robot stops
Position, and establish coordinate system；
S2: parameterized template is established: establishing the kinematics parameters model of robot；
S3: it establishes motion profile: according to the terminal of the wanted movement position of robot, choosing in coordinate system and a little moved for it
Terminal, and motion profile is established between robot stop place and exercise end:
S4: Motor execution: robot is moved according to the motion profile of foundation, after robot motion receives, end
Actuator will compare institute stop place with original setting position at this time, judge its error amount；
S5: error compensation: when error amount is greater than preset value, robot motion's repetitive operation S1-S4 step is driven, according to machine
The motion profile and parameter of the kinematic parameter model specification robot next step of device people, compensate error, until robot
The error amount of post-movement position is less than preset value；When error amount is less than preset value, robot is performed the next step suddenly.
By compensating to Motion Errors, the gravity of robot itself, inertia force and suffered negative are reduced
The influence of load improves the processing quality of its product so that the precision and error to its motion profile compensate.
When S1 step robot does two dimensional motion, the coordinate system established is plane coordinate system, and robot does three-dimensional motion
When, the coordinate system established is space coordinates, corresponding coordinate system is selected according to the motion profile of robot, to improve
The use scope of robot.
The kinematics parameters model of robot includes kinematics sequences, Jacobian matrix and Hessian matrix in S2 step；
Robot is established by gravity, inertia force in conjunction with Jacobian matrix and conservative rigidity replacement theory according to the joint stiffness of robot
With the stiffness matrix K of external force；On the basis of kinematics and rigidity, the kinetic model of robot is established.
When establishing motion profile in S3 step while a plurality of motion profile is established, it is most short for choosing according to foreign object interference, track
It selects condition and chooses optimal motion profile route, avoid robot from striking foreign object in moving process and cause unnecessary damage
Wound, and improve the sport efficiency of robot.
In S4 step when robot motion, end effector according to motion profile in the walked route of robot and S3 step into
Row confirmation, when route mismatches, robot stop motion in time corrects mistake, reduces damage when program error
It loses.
In conclusion the industrial robot motion control method based on error compensation is somebody's turn to do, by Motion Errors
It compensates, the gravity, inertia force and institute for reducing robot itself are affected by a load, thus to the essence of its motion profile
Degree and error compensate, and improve the processing quality of its product.
It should be noted that term " includes " or any other variant thereof is intended to cover non-exclusive inclusion, thus
So that the process, method, article or equipment for including a series of elements not only includes those elements, but also including not clear
The other element listed, or further include for elements inherent to such a process, method, article, or device.Do not having more
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that including process, the side of the element
There is also other identical elements in method, article or equipment.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of industrial robot motion control method based on error compensation, it is characterised in that: the following steps are included:
S1: establishment of coordinate system: after obtaining the upper movement of robot, the institute when end effector in robot stops is in place
It sets, and establishes coordinate system；
S2: parameterized template is established: establishing the kinematics parameters model of robot；
S3: it establishes motion profile: according to the terminal of the wanted movement position of robot, choosing a little whole for its movement in coordinate system
Point, and motion profile is established between robot stop place and exercise end:
S4: Motor execution: robot is moved according to the motion profile of foundation, and after robot motion receives, end is executed
Device will compare institute stop place with original setting position at this time, judge its error amount；
S5: error compensation: when error amount is greater than preset value, robot motion's repetitive operation S1-S4 step is driven, according to robot
Kinematic parameter model specification robot next step motion profile and parameter, error is compensated, until robot motion
The error amount of position is less than preset value afterwards；When error amount is less than preset value, robot is performed the next step suddenly.
2. a kind of industrial robot motion control method based on error compensation according to claim 1, it is characterised in that:
When S1 step robot does two dimensional motion, the coordinate system established is plane coordinate system, when robot does three-dimensional motion,
The coordinate system of foundation is space coordinates.
3. a kind of industrial robot motion control method based on error compensation according to claim 1, it is characterised in that:
The kinematics parameters model of robot includes kinematics sequences, Jacobian matrix and Hessian matrix in the S2 step；According to
The joint stiffness of robot establishes robot by gravity, inertia force and outer in conjunction with Jacobian matrix and conservative rigidity replacement theory
The stiffness matrix K of power；On the basis of kinematics and rigidity, the kinetic model of robot is established.
4. a kind of industrial robot motion control method based on error compensation according to claim 1, it is characterised in that:
When establishing motion profile in the S3 step while a plurality of motion profile is established, most short according to foreign object interference, track is selector bar
Part chooses optimal motion profile route.
5. a kind of industrial robot motion control method based on error compensation according to claim 1, it is characterised in that:
In the S4 step when robot motion, end effector is printed according to the walked route of robot and motion profile in S3 step
Card, when route mismatches, robot stop motion.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111469130A (en) * | 2020-04-26 | 2020-07-31 | 珠海格力智能装备有限公司 | Robot control method and device, storage medium and processor |
| CN112959323A (en) * | 2021-03-02 | 2021-06-15 | 中国工程物理研究院激光聚变研究中心 | Robot motion error on-line detection and compensation method and equipment |
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Application publication date: 20190830 |