摘要
机器人本体误差和工具误差最终都传递到工具末端形成加工误差,为提高加工精度,对机器人本体进行各类误差的解耦标定,再标定安装于机器人末端的工具。利用轴旋转法对机器人本体进行标定,并分析初始零位值对机器人几何参数标定精度的影响。采用新MDH法建立运动学模型,对位置和姿态关节进行解耦,利用解析法求取位置关节角,用牛顿迭代法求取姿态关节角。在工具标定时,建立机器人加工装备的数字化模型,利用实际装备与数字化装备的映射一致性,求取工具的安装与制造误差。采用新MDH法可方便设置基坐标系,易于计算初始零位值。实验结果表明,初始零位值补偿后,机器人本体和工具标定后的轨迹精度可以达到0.28mm。
The robot body error and tool error are finally transmitted to the end of the tool,forming the machining error.The method to improve the machining accuracy is to calibrate all kinds of errors of the robot body,and then calibrate the tool installed at the end of the robot.In this paper,the axis rotation method is used to calibrate the robot body,and the influence of the initial zero value on the calibration accuracy of the robot geometric parameters is analyzed.The kinematic model is established by New Modified-Denavit-Hartenberg(N-MDH)method,the position joint and attitude joint are decoupled,the position joint angle is obtained by analytical method,and the attitude joint angle is obtained by newton iteration method.In the process of tool calibration,the digital model of robot machining equipment is established,and the mapping consistency between the actual equipment and the digital equipment is used to calculate the installation and manufacturing errors of the tool.The New Modified-Denavit-Hartenberg(N-MDH)method can be used to set the base coordinate system and calculate the initial zero value easily.The experimental results show that after the initial zero value compensation,the trajectory accuracy of the robot body and tool calibration can reach 0.28mm.
作者
孙健冬
席文明
黄沅松
Sun Jiandong;Xi Wenming;Huang Yuansong(Pen-Tung Sah Institute of Micro-Nano Science and Technology,Xiamen University,Xiamen,Fujian 361005,China;不详)
出处
《工具技术》
北大核心
2024年第4期135-140,共6页
Tool Engineering
关键词
机器人加工精度
本体与工具标定
初始零位值
新MDH法
映射一致性
robot machining accuracy
ontology and tool calibration
initial zero value
new MDH method
mapping consistency
