CN112959323A - Robot motion error on-line detection and compensation method and equipment - Google Patents
Robot motion error on-line detection and compensation method and equipment Download PDFInfo
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- CN112959323A CN112959323A CN202110229969.6A CN202110229969A CN112959323A CN 112959323 A CN112959323 A CN 112959323A CN 202110229969 A CN202110229969 A CN 202110229969A CN 112959323 A CN112959323 A CN 112959323A
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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
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention is applicable to the field of robots and provides a robot motion error in-situ detection and compensation method and equipment, wherein the robot motion error in-situ detection method comprises the following steps: generating a target motion track based on the structural parameters of the standard part; the robot enables the measuring device to move along the target motion track, actual motion errors of the robot are obtained through detection of the measuring device in the process that the robot enables the measuring device to move along the target motion track, error data are compensated into the motion track of the robot to obtain the compensated motion track of the robot, the motion errors of the robot are restrained, and the motion precision of the robot is improved.
Description
Technical Field
The invention relates to the technical field of advanced manufacturing, in particular to the field of robots, and specifically relates to a robot motion error in-situ detection and compensation method and device.
Background
With the continuous development of modern science and technology, especially the rapid advance of advanced science and technology such as aerospace, national defense and military industry, information, microelectronics, photoelectrons and the like, higher and higher requirements are put forward in the field of ultra-precision machining. The ultra-precision manufacturing and detecting technology is an important condition for realizing the batch manufacturing and production supply of ultra-precision devices. Aspheric optical elements are ultra-precise devices in advanced optical systems because they facilitate high quality optical properties and high quality image effects.
In the prior art, the ultra-precision machining of the aspheric optical element is usually completed through a five-axis linkage numerical control machine tool, however, the hardware cost of the five-axis linkage numerical control machine tool is high, and the equipment space volume is large. With the development of the robot technology, the robot technology is not only applied to rough industrial occasions (such as painting, deburring, welding, carrying, packaging, stacking and the like) with severe conditions and low precision requirements, but also applied to the fields of biomedical science, precision manufacturing and the like with high precision requirements. Taking a six-joint robot as an example, the six-joint robot has the advantages of low price, good stability, small occupied area, good flexibility and the like. However, when the robot technology is combined with the ultra-precision polishing technology and applied to the ultra-precision processing of the aspheric optical element, the robot motion error is large due to insufficient precision and rigidity of the robot, and the precision is greatly affected when the aspheric optical element is subjected to the ultra-precision polishing.
Disclosure of Invention
The invention aims to provide a robot motion error in-situ detection and compensation method and equipment, and aims to solve the technical problem of large robot motion error in the prior art.
In a first aspect, the present invention provides a robot motion error in-situ detection method, which includes the following steps:
step S10: generating a target motion track based on the structural parameters of the standard part;
step S20: the robot enables the measuring device to move along a target motion track, and in the process that the robot enables the measuring device to move along the target motion track, errors of a first actual motion track of the measuring device and the target motion track at each sampling point are obtained through detection of the measuring device, wherein the measuring device is installed at the tail end of the robot;
step S30: and taking the error of the first actual motion trail of the measuring device and the target motion trail at each sampling point as the first motion error of the robot at each sampling point.
Alternatively, the trajectory parameter of the robot during the movement of the measuring device along the target movement trajectory is the same as the trajectory parameter of the machining device during actual machining in which the measuring device is removed from the end of the robot and the machining device is attached to the end of the robot.
Optionally, the detection parameters include path distance, step pitch, feeding speed and sampling frequency, and the X/Y direction position coordinates during detection and the first motion error data are matched to obtain the spatial two-dimensional distribution of the robot motion error.
Optionally, when the measuring device detects the error between the first actual motion trajectory of the measuring device and the target motion trajectory at each sampling point, the sampling intervals and the step distances of the sampling points are consistent.
Alternatively, the sampling frequency of the measuring devicefMeasuring the moving speed of the devicevSampling interval of measuring deviceaStep in trajectory parametersbThe following relationship is satisfied:f=v/a=v/b。
optionally, the intersection point of the target motion trajectory and the geometric center line of the standard part is used as a zero point of the robot workpiece coordinate system and is also used as a zero point of the measuring device.
Optionally, the standard part is a high-precision aspheric surface standard part with excellent surface shape precisionIn 5μmThe measuring device is a laser micrometer with detection precision superior to 1μm。
In a second aspect, the present invention provides a robot motion error in-situ compensation method, which includes the following steps:
step S100: obtaining a first motion error of the robot at each sampling point by using the robot motion error on-site detection method;
step S200: and compensating the motion error of the robot at each sampling point into the target motion track to obtain a compensated motion track.
Optionally, the method further comprises the following steps:
step S300: the robot enables the measuring device to move along the compensation motion track, and in the process that the robot enables the measuring device to move along the compensation motion track, errors of a second actual motion track of the measuring device and the compensation motion track at each sampling point are obtained through detection of the measuring device;
step S400: and taking the error of the second actual motion track of the measuring device and the error of the compensation motion track at each sampling point as the second motion error of the robot at each sampling point, so that the second motion error of the robot at each sampling point is smaller than the error threshold value.
In a third aspect, the invention provides equipment with robot motion error in-situ detection and compensation functions, which comprises a robot body, a robot controller, a process system, a high-precision standard part and a measuring device, wherein the robot controller is used for controlling the robot body to move in situ; the measuring device is arranged at the tail end of the robot body and is electrically connected with the process system to realize the transmission of motion error data; the robot controller is electrically connected with the robot body and the process system to realize program and signal transmission;
further, the apparatus is used for implementing a robot motion error in-place detection method as described in one of the above, or a robot motion error in-place compensation method as described in one of the above.
Compared with the prior art, the invention at least has the following technical effects:
1. in the invention, the robot motion error can be accurately obtained by using the robot motion error in-situ detection method, and meanwhile, in the robot motion error in-situ compensation method, the motion error of the robot at each sampling point is compensated into the target motion track to obtain the compensated motion track, thereby greatly improving the motion accuracy of the robot.
2. In the invention, after the motion error of the robot is obtained, the measuring device is taken down from the tail end of the robot during actual processing, the processing device is arranged at the tail end of the robot, and the processing tool is arranged to realize the compensation processing of the robot, so the operation is convenient, and the switching between the detection compensation of the robot error and the subsequent compensation processing is easy to realize.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an apparatus with robot motion error in-situ detection and compensation functions according to an embodiment of the present invention;
fig. 2 is a flowchart of an in-situ robot motion error detection method in the first embodiment;
FIG. 3 is a schematic diagram of a robot motion error in-situ detection method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating scanning and detecting of a robot motion error according to a first embodiment of the present invention;
fig. 5 is a flowchart of a robot motion error in-place compensation method in the second embodiment;
FIG. 6 is a graph (one-dimensional) of motion error magnitudes before and after robot motion error compensation;
FIG. 7 is a spatial frequency plot (one-dimensional) before and after robot motion error compensation;
fig. 8 is the detection result (two-dimensional) before robot motion error compensation;
fig. 9 shows the detection result (two-dimensional) after the robot motion error compensation.
Detailed Description
Aspects of the present invention will be described more fully hereinafter with reference to the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to any specific structure or function presented throughout this disclosure. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Based on the teachings herein one skilled in the art should appreciate that the scope of the present invention is intended to encompass any aspect disclosed herein, whether alone or in combination with any other aspect of the invention to accomplish any aspect disclosed herein. For example, it may be implemented using any number of the apparatus or performing methods set forth herein. In addition, the scope of the present invention is intended to cover apparatuses or methods implemented with other structure, functionality, or structure and functionality in addition to the various aspects of the invention set forth herein. It is to be understood that any aspect disclosed herein may be embodied by one or more elements of a claim.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Example one
As shown in fig. 1, a schematic diagram of an apparatus with robot motion error in-situ detection and compensation functions is shown, an embodiment of the present invention provides an apparatus with robot motion error in-situ detection and compensation functions, where the apparatus includes a robot body 1, a robot controller 2, a process system 3, a high-precision standard 5, and a measuring device 4; the measuring device 4 is arranged at the tail end of the robot body 1 and is electrically connected with the process system 3 to realize the transmission of motion error data; the robot controller 2 is electrically connected with the robot body 1 and the process system 3 to realize program and signal transmission.
As shown in fig. 2, a flowchart of an in-place detection method for a robot motion error in the first embodiment of the present invention is shown, and the in-place detection method for a robot motion error in the first embodiment of the present invention includes the following steps:
step S10: generating a target motion track based on the structural parameters of the standard part 5;
specifically, the target motion trajectory may be generated by the process system 3;
step S20: the robot makes the measuring device 4 move along the target motion track, and in the process that the robot makes the measuring device 4 move along the target motion track 101, the error between the first actual motion track 102 of the measuring device 4 and the target motion track 101 at each sampling point is detected and obtained through the measuring device 4, wherein the measuring device 4 is installed at the tail end of the robot;
as shown in fig. 3, which is a schematic diagram of a robot motion error in-place detection method provided in an embodiment of the present invention, a process system 3 may form a target motion track 101 according to structural parameters of a standard part 5, and program a detection program, and import the detection program into the robot controller 2, where the robot 1 makes a measurement device 4 move along the target motion track 101 under the control of the robot controller 2, but due to the existence of a robot motion error, the measurement device 4 may not move along the target motion track 101 completely, and actually, the measurement device 4 will move along a first actual motion track 102;
during the movement of the measuring device 4 along the first actual movement trajectory 102, the measuring device 4 detects an error between the first actual movement trajectory 102 and the target movement trajectory 101 in real time.
Regarding the error between the first actual motion trajectory 102 and the target motion trajectory 101 at each sampling point 103, the following method can be used to calculate:
the coordinate systems of the first actual motion trail 102 and the target motion trail 101 are both determinedSet as a robot workpiece coordinate systemXYZTherefore, the error between the first actual motion trajectory 102 and the target motion trajectory 101 at each sampling point is the error between the first actual motion trajectory 102 and the target motion trajectory 101 at each sampling pointZCoordinate differences on the axis;
for example, the first actual motion trajectory 102 is at a sampling point: (X，Y) Is located inZThe coordinate on the axis isZ 1 The target motion trajectory 101 is at the sampling point (X，Y) Is located inZThe coordinate on the axis isZ 2 Then, sampling points: (X，Y) Error of (2)δ X，Y =Z 1 -Z 2 ；
By the above method, the error at each sampling point can be obtained.
The errors at all the sampling points can finally form a robot motion error two-dimensional distribution.
Step S30: and taking the error of the first actual motion track 102 of the measuring device 4 and the target motion track 101 at each sampling point as the first motion error of the robot at each sampling point.
Alternatively, in order to ensure that the first motion error can be compensated point-to-point at the machining position in actual machining, the robot moves the measuring device 4 along the target motion trajectory with the same trajectory parameters as the trajectory parameters of the machining device in actual machining, in which the measuring device 4 is removed from the end of the robot and the machining device is attached to the end of the robot.
The processing device can be a polishing head, and can also be arranged according to actual needs, and the specific form of the processing device is not limited by the invention.
Optionally, the detection parameters include path distance, step pitch, feeding speed and sampling frequency, and the X/Y direction position coordinates during detection and the first motion error data are matched to obtain the spatial two-dimensional distribution of the robot motion error.
Taking fig. 4 as an example, when detecting a motion error of the robot, the measuring device 4 moves along the target motion trajectory 101, and the path in the target motion trajectory 101At a radial distance ofL 1 At a step distance ofL 2 In order to ensure that the first motion error can be compensated point-to-point in the machining position during the actual machining process, the distance between the pathsL 1 The distance between the paths is the same as that between the paths of the processing device during actual processingL 2 The step distance is the same as that of the machining device during actual machining.
Alternatively, when the measuring device 4 detects an error between the first actual motion trajectory 102 of the measuring device 4 and the target motion trajectory 101 at each sampling point, the sampling intervals and the step distances of the sampling points coincide.
For example, when the target motion trajectory 101 has a step distance ofb=2mmThen the sampling interval of the sampling point is setaIs also arranged as2mm。
Further, the sampling frequency of the measuring device 4 is measuredfAnd the moving speed of the measuring device 4vMeasuring device 4 sampling intervalaStep in trajectory parametersbThe following relationship is satisfied:
f=v/a=v/b
for example, whena=b=2mmMeasuring the speed of movement of the device 4v=20mm/sOf measuring means 4
The sampling frequency is10Hz。
Further, the intersection point of the target motion trajectory 101 and the geometric center line of the standard 5 is used as the zero point of the robot workpiece coordinate system and is also used as the zero point of the measuring device.
In particular, the measuring device 4 on the target motion trajectory 101 may be aligned with the geometric center of the target 5 and the measuring device 4 may be zeroed.
Optionally, the standard part 5 is a high-precision aspheric standard part, and the surface shape precision of the standard part is better than 5μmThe measuring device 4 is a laser micrometer with detection precision superior to 1μm。
Example two
As shown in fig. 5, a flowchart of an in-place compensation method for a robot motion error in the second embodiment of the present invention is shown, and the in-place compensation method for a robot motion error in the second embodiment of the present invention includes the following steps:
step S100: obtaining a first motion error of the robot at each sampling point by using any robot motion error on-site detection method in the first embodiment;
step S200: and compensating the motion error of the robot at each sampling point into the target motion track to obtain a compensated motion track.
Optionally, in order to verify the correctness of the robot motion error in-place compensation method in the second embodiment of the present invention, the method further includes the following steps:
step S300: the robot makes the measuring device 4 move along the compensation motion track, and in the process that the robot makes the measuring device 4 move along the compensation motion track, the error of a second actual motion track of the measuring device 4 and the error of the compensation motion track at each sampling point are obtained through detection of the measuring device 4;
step S400: and taking the error of the second actual motion track of the measuring device 4 and the error of the compensated motion track at each sampling point as the second motion error of the robot at each sampling point, so that the second motion error of the robot at each sampling point is smaller than the error threshold value.
In order to verify the suppression effect of the robot motion error in-place compensation method in the second embodiment of the present invention on the robot motion error, the following comparative test data are used to describe in detail.
Fig. 6 is a motion error magnitude diagram (one-dimensional) before and after robot motion error compensation. Scanning and detecting the aspheric surface workpiece without compensation to obtain a first motion error one-dimensional array; and then compensating the motion error into the target motion track, and obtaining a second motion error one-dimensional array. As can be seen from FIG. 6, the total amplitude of the robot motion error before, after and after compensation is from250μmIs reduced to50μm；
Fig. 7 is a spatial frequency diagram (one-dimensional) before and after robot motion error compensation. As can be seen from fig. 7, the spatial frequency is less than the spatial frequency after the robot motion error (i.e., the second motion error) is compensated0.06mm -1 The compensated motion error is mainly small amplitude and irregular high frequency motion error, and the error is presumed to be caused by high frequency vibration of the robot. If the high-frequency error caused by high-frequency vibration when the robot moves is not considered, the robot movement error is smaller. Therefore, the frequency after compensation is less than0.06mm -1 The amplitude of the motion error spectrum of (a) is significantly reduced and the characteristic frequency is almost eliminated. Therefore, the robot motion error is remarkably suppressed by introducing the robot motion error in-place compensation method.
A data processing algorithm is compiled, the first motion error and the second motion error data are used for constructing a two-dimensional motion error according to the detection position coordinates (namely sampling point coordinates), and in order to more visually show the inhibition effect of the compensation method on the motion error, the first motion error and the second motion error are subjected to0.06mm -1 And low-pass filtering to obtain low-frequency motion error distribution.
Fig. 8 shows the detection result (two-dimensional) before the robot motion error compensation, fig. 9 shows the detection result (two-dimensional) after the robot motion error compensation, and it can be seen from fig. 8 and 9 that the robot motion before the compensation is low-frequency and has a certain regularity of error distribution, and the motion error after the compensation is high-frequency and random error distribution, and the motion error after the compensation is reduced80%Motion error from0.263mmIs reduced to0.044mm. Therefore, further, the robot motion error is obviously inhibited after the compensation method is introduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An in-situ detection method for robot motion errors is characterized by comprising the following steps:
step S10: generating a target motion track based on the structural parameters of the standard part (5);
step S20: the robot enables the measuring device (4) to move along a target motion track, and in the process that the robot enables the measuring device (4) to move along the target motion track, errors of a first actual motion track of the measuring device (4) and the target motion track at each sampling point are obtained through detection of the measuring device (4), wherein the measuring device (4) is installed at the tail end of the robot;
step S30: and taking the error of the first actual motion trail of the measuring device (4) and the target motion trail at each sampling point as the first motion error of the robot at each sampling point.
2. A robot movement error on-site detection method as claimed in claim 1, characterized in that the trajectory parameters of the robot during the movement of the measuring device (4) along the target movement trajectory are the same as the trajectory parameters of the machining device during the actual machining, wherein the measuring device (4) is removed from the end of the robot during the actual machining, and the machining device is mounted on the end of the robot.
3. The on-site detection method for the robot motion errors as claimed in claim 1, wherein the detection parameters include path distance, step pitch, feeding speed and sampling frequency, and the X/Y direction position coordinates during detection are matched with the first motion error data to obtain the two-dimensional distribution of the robot motion errors in space.
4. A robot movement error on-site detection method as claimed in claim 3, characterized in that, when the measuring device (4) detects the error of the first actual movement track of the measuring device (4) and the target movement track at each sampling point, the sampling interval and the step distance of the sampling points are consistent.
5. A method for in-situ detection of robot motion errors according to claim 4, characterized in that the sampling frequency of the measuring device (4)fAnd a moving speed of the measuring device (4)vMeasuring device (4) sampling intervalaStep in trajectory parametersbThe following relationship is satisfied:
f=v/a=v/b。
6. the robot motion error on-site detection method as claimed in claim 5, characterized in that the intersection point of the target motion trajectory and the geometric center line of the standard part (5) is used as the zero point of the robot workpiece coordinate system and is also used as the zero point of the measuring device.
7. The robot motion error on-site detection method as claimed in one of claims 1-6, characterized in that the standard (5) is a high-precision aspheric standard with surface shape precision better than 5μmThe measuring device (4) is a laser micrometer with the detection precision superior to 1μm。
8. A robot motion error in-place compensation method is characterized by comprising the following steps:
step S100: in the robot motion error on-site detection method of one of claims 1 to 7, obtaining a first motion error of the robot at each sampling point;
step S200: compensating the motion error of the robot at each sampling point into a target motion track to obtain a compensated motion track;
step S300: the robot enables the measuring device (4) to move along the compensation motion track, and in the process that the robot enables the measuring device (4) to move along the compensation motion track, the measuring device (4) detects and obtains errors of a second actual motion track of the measuring device (4) and the compensation motion track at each sampling point;
step S400: and taking the error of the second actual motion track of the measuring device (4) and the error of the compensation motion track at each sampling point as the second motion error of the robot at each sampling point, so that the second motion error of the robot at each sampling point is smaller than an error threshold value.
9. The equipment with the robot motion error on-site detection and compensation function comprises a robot body (1), a robot controller (2), a process system (3), a high-precision standard (5) and a measuring device (4); the measuring device (4) is arranged at the tail end of the robot body (1) and is electrically connected with the process system (3) to realize motion error data transmission; the robot controller (2) is electrically connected with the robot body (1) and the process system (3) to realize program and signal transmission.
10. An apparatus with robot motion error in-situ detection and compensation functions as claimed in claim 9, wherein the apparatus is used to implement a robot motion error in-situ detection method as claimed in any one of claims 1 to 7, or a robot motion error in-situ compensation method as claimed in claim 8.
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