CN113146630B - Industrial robot milling error compensation method, system, device and medium - Google Patents
Industrial robot milling error compensation method, system, device and medium Download PDFInfo
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- 238000003801 milling Methods 0.000 title claims abstract description 84
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The application discloses a milling error compensation method, a milling error compensation system and a milling error compensation medium for an industrial robot, wherein the method comprises the following steps: acquiring milling force F in the machining process of the robot and acquiring a joint angle Q in the machining process of the robot; constructing a first relation between the milling force of the robot and the deformation error compensation value, and constructing a second relation between the joint angle of the robot and the positioning error compensation value; calculating the compensation delta of the deformation error of the robot according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 The method comprises the steps of carrying out a first treatment on the surface of the Will compensate the quantity delta 1 And compensation amount delta 2 And (3) superposing to obtain a total compensation value delta of the milling error of the robot, and feeding back the total compensation value delta to the robot. The application simultaneously considers the deformation error of the robot under the action of milling force and the positioning error generated by the geometric parameters of the robot, compensates the two errors simultaneously, has stable compensation effect and can be widely applied to the technical field of robots.
Description
Technical Field
The application relates to the technical field of robots, in particular to a milling error compensation method, a milling error compensation system, a milling error compensation device and a milling error compensation medium for an industrial robot.
Background
The robot is widely applied to the fields of stacking, spraying paint, welding and the like because of the advantages of high flexibility, good flexibility, low price, high repeated positioning accuracy and the like, but the disadvantages of low rigidity, low absolute positioning accuracy and the like limit the application in the cutting machining field, so that in order to improve the machining accuracy, a compensation system is introduced into a robot cutting machining unit, the production cost can be obviously reduced, the utilization rate of equipment and machining space is improved, and the technical innovation speed and the enterprise competitiveness are effectively improved.
In robotic machining applications, error prediction and compensation has been a hot spot problem of research. Errors of the robot include positioning errors of the robot and deformation errors caused by stress, wherein the stress deformation of the robot comprises deformation of a connecting rod of the robot and joint deformation, and the joint deformation is a main cause of the deformation errors of the tail end of the robot for most robots.
For the compensation of the robot positioning error, most researchers adopt a method for calibrating geometrical parameters of the robot to compensate, and the method comprises four steps of modeling, measuring, identifying and compensating, and is an off-line compensation method. For the compensation of deformation errors, most of the prior researches are based on a vision or optical measurement system to measure the pose of the tail end of the robot, and then compare the pose with an ideal pose, calculate the error value of the pose and compensate. The measurement accuracy of visual or optical measurement systems is susceptible to swarf and has limited measurement range and certain limitations. And most of the existing researches are to compensate the positioning error and the deformation error independently, and meanwhile, the researches for compensating the positioning error and the deformation error on line are rarely related to the current students.
Disclosure of Invention
In order to solve at least one of the technical problems existing in the prior art to a certain extent, the application aims to provide an industrial robot milling error online compensation method, system, device and medium based on force measurement feedback.
The technical scheme adopted by the application is as follows:
an industrial robot milling error compensation method comprises the following steps:
acquiring milling force F in the machining process of the robot and acquiring a joint angle Q in the machining process of the robot;
constructing a first relation between the milling force of the robot and the deformation error compensation value, and constructing a second relation between the joint angle of the robot and the positioning error compensation value;
calculating the compensation delta of the deformation error of the robot according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 ；
Will compensate the quantity delta 1 And compensation amount delta 2 And (3) superposing to obtain a total compensation value delta of the milling error of the robot, and feeding back the total compensation value delta to the robot.
Further, the milling force is a three-dimensional force: f= (fx, fy, fz) T The joint angle is six degrees of freedomDegree joint angle: q= (Q 1 ,q 2 ,q 3 ,q 4 ,q 5 ,q 6 ) T 。
Further, the expression of the first relationship is:
when n > 2:
when n is less than or equal to 2:
wherein ,the rigidity matrix, J, of the robot joint corresponding to the nth tool position point of the robot n For the first three rows of the velocity jacobian matrix corresponding to the nth tool position point of the robot, +.> and Jn All are related to the pose of the robot; f (F) n For the milling force of the robot at the nth tool position, the +.>The proportional coefficient, the integral coefficient and the differential coefficient of PID regulation corresponding to the nth tool position point of the robot are respectively.
Further, the proportional coefficient, the integral coefficient and the differential coefficient are parameters of self-adaptive adjustment, and when n is greater than 2, the self-adaptive adjustment method is as follows:
wherein ,γn The PID coefficient matrix corresponding to the nth tool position point of the robot is obtained through the PID coefficient matrix and the transformation corresponding to the (n-1) th tool position pointCorrection of the shape error compensation value, E is an identity matrix, X n Input matrix X of PID corresponding to nth tool position point n Is the corresponding deformation error matrix.
Further, the PID coefficient matrix gamma n Input matrix X n X is X n The calculation mode of (2) is as follows:
wherein ,γn Is a coefficient matrix of 3x1 composed of proportional coefficient, integral coefficient and differential coefficient, gamma n Once the values of (a) are determined, the proportional coefficient, the integral coefficient, and the differential coefficient are also determined; x is X n Is a 3X3 input matrix related to the robot joint stiffness, velocity jacobian matrix and milling force, X n Is an input matrix X corresponding to the front n cutter positions of the robot n Error matrix with 3n rows and 3 columns, delta n Is a 3x1 matrix.
Further, the expression of the second relationship is:
δ 2 ＝f′(Q+ΔQ)-f(Q)
wherein f' (Q) is a forward kinematics equation of the robot after the calibration of the kinematics parameters, f (Q) is a forward kinematics equation of the robot without the calibration of the parameters, deltaQ is a joint angle error after the calibration of the kinematics parameters, and positioning error DeltaQ 2 A matrix of 3x1 represents compensation values in three directions xyz.
Further, the acquiring the milling force F in the machining process of the robot includes:
a force sensor is adopted to measure and acquire milling force F in the robot machining process on line;
the acquiring the joint angle Q in the robot machining process comprises the following steps:
and acquiring the joint angle Q in the robot machining process on line by adopting a robot communication interface.
The application adopts another technical scheme that:
an industrial robot milling error online compensation system, comprising:
the information acquisition module is used for acquiring milling force F in the machining process of the robot and acquiring joint angle Q in the machining process of the robot;
the relation construction module is used for constructing a first relation between the milling force of the robot and the deformation error compensation value and constructing a second relation between the joint angle of the robot and the positioning error compensation value;
a compensation solving module for calculating the compensation delta of the robot deformation error according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 ；
A compensation feedback module for compensating the compensation delta 1 And compensation amount delta 2 And (3) superposing to obtain a total compensation value delta of the milling error of the robot, and feeding back the total compensation value delta to the robot.
The application adopts another technical scheme that:
an industrial robot milling error online compensation device, comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method described above.
The application adopts another technical scheme that:
a storage medium having stored therein a processor executable program which when executed by a processor is for performing the method as described above.
The beneficial effects of the application are as follows: the application simultaneously considers the deformation error of the robot under the action of milling force and the positioning error generated by the geometric parameters of the robot, compensates the two errors simultaneously, is not influenced by the machining angle, the machining space and the machining chips, and has stable compensation effect.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description is made with reference to the accompanying drawings of the embodiments of the present application or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present application, and other drawings may be obtained according to these drawings without the need of inventive labor for those skilled in the art.
FIG. 1 is a flow chart of an industrial robot processing error online compensation method based on force measurement feedback in an embodiment of the application;
FIG. 2 is a diagram of a robot machining error on-line compensation system based on force measurement feedback in an embodiment of the application;
FIG. 3 is a graph of position error versus position error before and after compensation of positioning error in an embodiment of the present application;
FIG. 4 is a schematic diagram of a compensation strategy in an embodiment of the application;
FIG. 5 is a schematic diagram of an industrial robot compensating for front and rear part errors in an embodiment of the present application;
fig. 6 is a schematic diagram showing the effect of the industrial robot on compensating curved surface parts in the embodiment of the application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 and 2, the embodiment provides an online robot processing error compensation method based on force measurement feedback, and a compensation system corresponding to the method is shown in fig. 2, and comprises a six-degree-of-freedom industrial robot, an electric spindle, a force sensor, an upper computer, a robot control cabinet, a cutter and a workpiece.
The industrial robot processing error online compensation method based on force measurement feedback comprises the following steps:
s1, measuring three-dimensional milling force F in the robot machining process on line through a force sensor arranged at the bottom of a workpiece, and acquiring joint angle Q in the robot machining process on line through a robot communication interface;
s2, constructing a relation between the milling force of the robot and the deformation error compensation value, and constructing a relation between the joint angle of the robot and the positioning error compensation value;
s3, calculating the compensation quantity delta of the robot deformation error by using the milling force F obtained by online measurement 1 Calculating the compensation delta of the robot positioning error by utilizing the joint angle Q obtained on line 2 ；
S4, willThe two compensation values are overlapped to obtain a total compensation value delta=delta of the robot machining error 1 +δ 2 And feeding back the total compensation value to the robot through the robot communication interface.
Specifically, in step S1, the milling force is a three-dimensional force f= (F) x ,f y ,f z ) T The joint angle is a six-degree-of-freedom joint angle q= (Q) 1 ,q 2 ,q 3 ,q 4 ,q 5 ,q 6 ) T . Since the milling force is obtained under the measuring coordinate system of the force sensor and the calculation of the deformation error compensation value is performed in the tool contact point coordinate system of the curved surface, the measured milling force needs to be converted into the tool contact point coordinate system.
As shown in fig. 4, in step S2, the relation between the milling force of the robot and the deformation error compensation value is:
in the above-mentioned formula (1),the stiffness matrix of the robot joint corresponding to the nth tool position point of the robot is a 6x6 square matrix, J n For the first three rows of the velocity jacobian matrix corresponding to the nth tool position point of the robot, the velocity jacobian matrix is a matrix of 3x 6-> and Jn All related to the pose of the robot, which is calculated using existing methods. F (F) n For the three-dimensional cutting force corresponding to the nth tool position point, the matrix is 3x1, and the bit is +.>The proportional coefficient, the integral coefficient and the differential coefficient of PID regulation corresponding to the nth tool position point of the robot are respectively. Deformation error compensation value delta 1 A matrix of 3x1 represents compensation values in three directions xyz. The above formula applies to n being greater than 2And for the first two knife sites, PID regulation is not added, and the deformation error compensation value is calculated by the following steps:
in the formula (1), the proportional coefficient, the integral coefficient and the differential coefficient are parameters which can be adaptively adjusted, and when n is more than 2, the adjusting method is as follows:
in the formula (3), gamma n The PID coefficient matrix corresponding to the nth tool position point of the robot can be obtained by correcting the PID coefficient matrix corresponding to the nth-1 tool position point and the deformation error compensation value, E is a 3X3 identity matrix, and X n Input matrix X of PID corresponding to nth tool position point n The specific calculation method for the corresponding deformation error matrix comprises the following steps:
in the formula (4), gamma n Is a coefficient matrix of 3x1 composed of proportional coefficient, integral coefficient and differential coefficient, gamma n Once the values of (a) are determined, the scale factor, the integral factor, and the differential factor are also determined. X is X n Is a 3X3 input matrix related to the robot joint stiffness, velocity jacobian matrix and milling force, X n Is an input matrix X corresponding to the front n cutter positions of the robot n Error matrix with 3n rows and 3 columns, delta n Is a 3x1 matrix. The initial value of gamma can be 0, and since PID control is not added to the first two knife sites, gamma is calculated from the third knife site, namely gamma 1 ＝γ 2 After the values of the coefficient matrix γ are determined, the scaling coefficients K can be calculated from equation (4) P Integral coefficient K I Differential coefficient K D The values of the three.
In the formula (1), the compensation value of the deformation error is directly related to the milling force, the joint rigidity of the robot and the velocity jacobian matrix of the robot, and the milling force, the joint rigidity and the velocity jacobian matrix of the robot are closely related to the processing pose of the robot, so that the compensation method of the deformation error has good pose adaptability. When the curvature of the surface of a processed workpiece is suddenly changed, the processing pose of the robot can be adjusted according to the curvature of the workpiece, the milling force, the rigidity of the joints of the robot and the jacobian matrix of the speed of the robot can be correspondingly changed, and the compensation value can be updated according to the milling force, the rigidity of the joints of the robot and the change of the jacobian matrix of the speed of the robot. Therefore, the compensation method has a good compensation effect on the complex curved surface. In addition, the PID coefficient of the nth cutter position point can be corrected according to the PID coefficient of the n-1 cutter position points, and the deformation compensation values of the nth cutter position point are related to the compensation values of the first two cutter position points, so that the method has certain predictability.
In step S2, the relationship between the joint angle and the positioning error compensation value is:
δ 2 ＝f′(Q+ΔQ)-f(Q) (5)
in the formula (5), f' (Q) is a forward kinematics equation of the robot after the calibration of the kinematics parameters, f (Q) is a forward kinematics equation of the robot without the calibration of the kinematics parameters, deltaQ is a joint angle error after the calibration of the kinematics parameters, and positioning error delta 2 A matrix of 3x1 represents compensation values in three directions xyz. The robot kinematics parameter calibration method is an existing method and is not described herein. Fig. 3 is a comparison chart of position errors before and after the compensation of the positioning errors.
The method can calculate the compensation delta of the deformation error of the robot through the milling force F obtained by online measurement 1 Meanwhile, the compensation quantity delta of the robot positioning error is calculated by utilizing the joint angle Q obtained on line 2 The two compensation values are overlapped to obtain a total compensation value delta=delta of the robot machining error 1 +δ 2 Finally, the total compensation value is fed back to the robot, thus completing the robotAnd (5) online compensation of man-machine errors. As shown in fig. 5, fig. 5 is a schematic diagram of an industrial robot for compensating for errors of front and rear parts.
In the method, the deformation error compensation value delta of the robot 1 Is obtained in the knife contact coordinate system of the curved surface of the workpiece, and the positioning error compensation value delta of the robot 2 Calculated in a robot-based coordinate system and the final total compensation is achieved by superimposing the compensation values into the machining program of the robot, which is generated based on the object coordinate system, the deformation error compensation values delta are therefore required 1 And a positioning error compensation value delta 2 And converting the workpiece coordinate system into the workpiece coordinate system and then superposing the workpiece coordinate system.
In summary, in this embodiment, the force sensor is used to measure the milling force during the milling process of the robot online, and meanwhile, the joint angle during the milling process of the robot is obtained online by using the robot communication interface; constructing a relation between the milling acting force of the robot and the deformation error compensation value, and constructing a relation between the joint angle of the robot and the positioning error compensation value; and calculating a compensation value of the deformation error of the robot by using the measured milling acting force of the robot, calculating a compensation value of the positioning error by using the obtained angle of the joint of the robot, and overlapping and feeding back the two compensation values to the robot, thereby improving the milling precision of the robot. As shown in fig. 6, fig. 6 is a schematic view of the effect of the industrial robot on the back and forth of the compensation curved surface part.
The embodiment also provides an industrial robot milling error online compensation system, which comprises:
the information acquisition module is used for acquiring milling force F in the machining process of the robot and acquiring joint angle Q in the machining process of the robot;
the relation construction module is used for constructing a first relation between the milling force of the robot and the deformation error compensation value and constructing a second relation between the joint angle of the robot and the positioning error compensation value;
a compensation solving module for calculating the compensation delta of the robot deformation error according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 ；
A compensation feedback module for compensating the compensation delta 1 And compensation amount delta 2 And (3) superposing to obtain a total compensation value delta of the milling error of the robot, and feeding back the total compensation value delta to the robot.
The industrial robot milling error online compensation system provided by the embodiment of the application can be used for executing the industrial robot milling error online compensation method provided by the embodiment of the method, and any combination of the embodiment of the method can be executed, so that the method has corresponding functions and beneficial effects.
The embodiment also provides an industrial robot milling error online compensation device, which comprises:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method illustrated in fig. 1.
The industrial robot milling error online compensation device provided by the embodiment of the application can be used for executing the industrial robot milling error online compensation method provided by the embodiment of the method, and any combination of the embodiment of the method can be executed, so that the method has corresponding functions and beneficial effects.
Embodiments of the present application also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the method shown in fig. 1.
The embodiment also provides a storage medium which stores instructions or programs capable of executing the online compensation method for milling errors of the industrial robot, provided by the embodiment of the method, and when the instructions or programs are operated, the method can be used for executing any combination implementation steps of the embodiment of the method, and the method has corresponding functions and beneficial effects.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the application is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the described functions and/or features may be integrated in a single physical device and/or software module or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the application, which is to be defined in the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (9)
1. The industrial robot milling error compensation method is characterized by comprising the following steps of:
acquiring milling force F in the machining process of the robot and acquiring a joint angle Q in the machining process of the robot;
constructing a first relation between the milling force of the robot and the deformation error compensation value, and constructing a second relation between the joint angle of the robot and the positioning error compensation value;
calculating the compensation delta of the deformation error of the robot according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 ；
Will compensate the quantity delta 1 And compensation amount delta 2 The total compensation value delta of the milling error of the robot is obtained through superposition, and the total compensation value delta is fed back to the robot;
the expression of the first relation is:
when n > 2:
when n is less than or equal to 2:
wherein ,the rigidity matrix, J, of the robot joint corresponding to the nth tool position point of the robot n For the first three rows of the velocity jacobian matrix corresponding to the nth tool position point of the robot, +.> and Jn All are related to the pose of the robot; f (F) n For the milling force of the robot at the nth tool position, the +.>Respectively proportional coefficient and integral of PID regulation corresponding to the nth tool position point of the robotCoefficient, differential coefficient.
2. The industrial robot milling error compensation method of claim 1, wherein the milling force is a three-dimensional force: f= (fx, fy, fz) T The joint angle is a six-degree-of-freedom joint angle: q= (Q 1 ，q 2 ，q 3 ，q 4 ，q 5 ，q 6 ) T 。
3. The method for compensating milling errors of an industrial robot according to claim 1, wherein the proportional coefficient, the integral coefficient and the differential coefficient are adaptively adjusted parameters, and when n is greater than 2, the method for adaptively adjusting is as follows:
wherein ,γn The PID coefficient matrix corresponding to the nth tool position point of the robot is obtained by correcting the PID coefficient matrix corresponding to the nth-1 tool position point and the deformation error compensation value, E is an identity matrix and X n Input matrix X of PID corresponding to nth tool position point n Is the corresponding deformation error matrix.
4. A method for compensating for milling errors of an industrial robot according to claim 3, wherein the PID coefficient matrix γ n Input matrix X n X is X n The calculation mode of (2) is as follows:
wherein ,γn Is a coefficient matrix of 3x1 composed of proportional coefficient, integral coefficient and differential coefficient, gamma n Once the values of (a) are determined, the proportional coefficient, the integral coefficient, and the differential coefficient are also determined; x is X n Is a robot-related device3X3 input matrix, X, related to pitch stiffness, velocity jacobian matrix and milling force n Is an input matrix X corresponding to the front n cutter positions of the robot n Error matrix with 3n rows and 3 columns, delta n Is a 3x1 matrix.
5. The industrial robot milling error compensation method of claim 1, wherein the expression of the second relationship is:
δ 2 ＝f′(Q+ΔQ)-f(Q)
wherein f' (Q) is a forward kinematics equation of the robot after the calibration of the kinematics parameters, f (Q) is a forward kinematics equation of the robot without the calibration of the parameters, deltaQ is a joint angle error after the calibration of the kinematics parameters, and positioning error DeltaQ 2 A matrix of 3x1 represents compensation values in three directions xyz.
6. The method for compensating for milling errors of an industrial robot according to claim 1, wherein,
the obtaining of the milling force F in the robot machining process includes:
a force sensor is adopted to measure and acquire milling force F in the robot machining process on line;
the acquiring the joint angle Q in the robot machining process comprises the following steps:
and acquiring the joint angle Q in the robot machining process on line by adopting a robot communication interface.
7. An industrial robot milling error online compensation system, which is characterized by comprising:
the information acquisition module is used for acquiring milling force F in the machining process of the robot and acquiring joint angle Q in the machining process of the robot;
a relation construction module for constructing a first relation between the milling force of the robot and the deformation error compensation value,
constructing a second relation between the robot joint angle and the positioning error compensation value;
a compensation solving module for calculating the compensation delta of the robot deformation error according to the milling force F and the first relation 1 Calculating the compensation delta of the robot positioning error according to the joint angle Q and the second relation 2 ；
A compensation feedback module for compensating the compensation delta 1 And compensation amount delta 2 The total compensation value delta of the milling error of the robot is obtained through superposition, and the total compensation value delta is fed back to the robot;
the expression of the first relation is:
when n > 2:
when n is less than or equal to 2:
wherein ,the rigidity matrix, J, of the robot joint corresponding to the nth tool position point of the robot n For the first three rows of the velocity jacobian matrix corresponding to the nth tool position point of the robot, +.> and Jn All are related to the pose of the robot; f (F) n For the milling force of the robot at the nth tool position, the +.>The proportional coefficient, the integral coefficient and the differential coefficient of PID regulation corresponding to the nth tool position point of the robot are respectively.
8. An industrial robot milling error online compensation device, which is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method of any one of claims 1-6.
9. A storage medium having stored therein a processor executable program, wherein the processor executable program when executed by a processor is for performing the method of any of claims 1-6.
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