CN109746915A - A kind of kinematic method promoting industrial robot absolute fix precision - Google Patents
A kind of kinematic method promoting industrial robot absolute fix precision Download PDFInfo
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Abstract
The present invention relates to a kind of kinematic methods for promoting industrial robot absolute fix precision, including S1: establishing the error model of the geometric parameter ɡ of robot, the position and attitude error Δ X of robot end is acquired, is recognized using DH geometric parameter error delta ɡ of the discrimination method to robot；S2: nominal Arithmetic of inverse kinematics module f is separately designed in robot controller‑1, positive kinematics algorithm X with geometric parameter error delta ɡEModule and calculating robot's geometry Jacobian matrix J algoritic module；S3: robot controller pass through nominal inverse kinematics, homogeneous transformation with error parameter positive kinematics and utilize the anti-method for solving joint space deviation and combining of geometry Jacobi, realize compensation campaign algorithm.Robot pose error caused by geometric error parameter is mapped to joint space deviation using Jacobi by the present invention, and it has been implemented in combination with to the Kinematic Algorithms of absolute fix precision improvement with nominal inverse kinematics.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of promotion industrial robot absolute fix precision
Kinematic method.
Background technique
Manufacture geometric parameter error of the industrial robot due to process and assemble process, the flexibility of connecting rod and joint, and slow down
Many inevitable factors such as machine backlash lead to robot absolute fix low precision, and wherein geometric parameter error is robot
The main source of end error.The calibration of industrial robot and corresponding backoff algorithm are the absolute fix precision of hoisting machine people
A kind of effective way.In order to can satisfy industrial robot more, accurately meticulous process and off-line programing are imitative
Proper program can be applied directly to scene, and by the model in the actual geometry motion model of robot and simulated environment
With consistent, need to design a kind of kinematic method of absolute fix precision for improving robot, compensate correlated error.
A kind of error compensation for industrial robot is disclosed in the patent that China Patent No. is CN201710811069
Method mainly passes through kinetic model calculating robot end power and the stiffness matrix of gravity, inertia force is combined to solve machine
The flexible offset of device people end stress, is iterated by acceptable error and corrects robot end's pose data, most
Pass through inverse kinematics joint input variable afterwards.This patent is mainly to pass through the method compensation of kinetic model and stiffness matrix
End position and attitude error caused by the flexible deformation of each components of robot.Error caused by flexible deformation can be with by the method
Obtain effective compensation.But geometric parameter error is the main source of robot end's error.
European patent EP 1250986A2 disclosed a kind of kinematic method for compensating flexible deformation in 2001.The U.S. is special
Sharp US5162713 disclosed in 1992 it is a kind of first determine SCARA robot geometric parameter in rod length error and joint become
Error is measured, these errors and the inverse solution joint of name are then solved into new amendment cartesian coordinate, finally sit amendment Descartes
It is denoted as the input of robot inverse solution, to obtain compensated joint of robot variable.This patent is only for SCARA class industry
Robot compensation part geometric parameter error, restricted application, compensation precision are also limited.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, effectively improve the absolute fix precision of robot, the present invention considers shadow
Absolute fix precision principal element, that is, geometric error is rung, the invention proposes a kind of promotion industrial robot absolute fix precision
Kinematic method.
The technical problems to be solved by the invention are realized using following technical scheme:
A kind of kinematic method promoting industrial robot absolute fix precision, comprising the following steps:
S1: initially setting up the error model of the geometric parameter ɡ of robot, to robot end in the working space of robot
The position and attitude error Δ X at end is acquired, and is recognized using discrimination method to the DH geometric parameter error delta ɡ of robot；Machine
Kinematic relation between device people's terminal position X and joint variable q are as follows:
X=f (q, ɡ) (1)
After considering geometric parameter error delta ɡ, the kinematic relation between robot end position and joint variable are as follows:
X+ Δ X=f (q, ɡ+Δ ɡ) (2)
By relational expression (1) and (2), establish between the position and attitude error Δ X of robot end and geometric parameter error delta ɡ
Relationship are as follows:
Δ X=Η (ɡ) Δ ɡ (3)
Wherein, Η (ɡ) is error identification Jacobian matrix, this matrix, can be in the hope of after the joint position of known machine people
Obtain matrix actual value；It therefore, can be in the hope of joint error Δ ɡ through relational expression (3) by detection robot end's position and attitude error.
S2: nominal Arithmetic of inverse kinematics module f is separately designed in robot controller-1, have geometric parameter error delta ɡ
Positive kinematics algorithm XEModule and calculating robot's geometry Jacobian matrix J algoritic module；
S3: when robot controller is by the instruction value X of cartesian spaceCWhen issuing robot controller, robot control
Device pass through nominal inverse kinematics, homogeneous transformation with error parameter positive kinematics and solve joint sky using geometry Jacobi is counter
Between the method that combines of deviation, realize compensation campaign algorithm.
As a further explanation of the present invention, the step S3 specifically includes the following steps:
S31: cartesian space pose instruction value X is solved by nominal inverse kinematics modelCCorresponding each joint name
Value θ；
S32: and then the joint nominal value that previous step solves is updated to the positive kinematics model for considering geometric error
In, solve the cartesian coordinate value X for considering geometric errorE；
S33: cartesian coordinate error amount Δ X=X is solvedC-XE；
S34: by the Jacobian matrix J of joint position q at this time, and the J that inverted-1, combine with the Δ X that S33 is obtained and ask
Solution obtains the deviation δ q that joint space corresponds to each axis；
S35: each joint coordinates value q=q+ δ q is compensated；
S36: the compensated joint coordinates value of S35 is updated in the positive kinematics for considering geometric error, is solved joint and is mended
Cartesian coordinate value X after repayingE；
S37: the error delta X=X between cartesian coordinate instruction value and compensated cartesian coordinate value is calculatedC-XE, than
Compared with it compared with specified cartesian coordinate allowable error δ size；If it is S38 is really entered, otherwise enter S34；
S38: the joint coordinates value q of single compensation newest in S35 is issued in the positioner of each axis.
As a further explanation of the present invention, it is calculated using the inverse solution of robot name comprising several in the S31 and S32 of step S3
The modified cartesian coordinate value of what error, specific as follows:
XE=f (q, ɡ+Δ ɡ) (4).
As a further explanation of the present invention, pass through geometry Jacobian matrix J for cartesian space in the S34 of step S3
Position and attitude error is mapped to joint variable, specific as follows:
δ q=J-1(q)·ΔX (5)。
The beneficial effects of the present invention are: the method for the present invention passes through analytical industry robot machine people kinematics model and movement
Error model is learned, establishes band error parameter positive motion model by the way that geometric error parameter is introduced positive kinematics, and apply this mould
Type estimates robot end's pose.After obtaining accurate geometric parameter, the present invention uses geometry Jacobian matrix by robot
End position and attitude error is mapped to joint space variable, and all DH geometric parameters are compensated using joint variable to robot end
Error caused by pose.The method that the present invention uses iteration, can obtain the joint variable for meeting cartesian space error threshold,
It realizes error threshold required precision, realizes that meticulous process lays the foundation for robot.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is control system block diagram of the invention；
Fig. 2 is flow chart of the method for the present invention；
Fig. 3 is the kinematics model joint coordinate system schematic diagram that six-shaft industrial robot is tested in the present invention；
Fig. 4 is in the present invention using robot end's location error comparison diagram before and after kinematic compensation；
Marked in the figure: the terminal position error curve before 1, absolute fix precision improvement；2, after absolute fix precision improvement
Terminal position error curve.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, a kind of kinematic method promoting industrial robot absolute fix precision, including following step
It is rapid:
S1: initially setting up the error model of the geometric parameter ɡ of robot, to robot end in the working space of robot
The position and attitude error Δ X at end is acquired, and is recognized using discrimination method to the DH geometric parameter error delta ɡ of robot；Machine
Kinematic relation between device people's terminal position X and joint variable q are as follows:
X=f (q, ɡ) (1)
After considering geometric parameter error delta ɡ, the kinematic relation between robot end position and joint variable are as follows:
X+ Δ X=f (q, ɡ+Δ ɡ) (2)
By relational expression (1) and (2), establish between the position and attitude error Δ X of robot end and geometric parameter error delta ɡ
Relationship are as follows:
Δ X=Η (ɡ) Δ ɡ (3)
Wherein, Η (ɡ) is error identification Jacobian matrix, this matrix, can be in the hope of after the joint position of known machine people
Obtain matrix actual value；It therefore, can be in the hope of joint error Δ ɡ through relational expression (3) by detection robot end's position and attitude error.
S2: nominal Arithmetic of inverse kinematics module f is separately designed in robot controller-1, have geometric parameter error delta ɡ
Positive kinematics algorithm XEModule and calculating robot's geometry Jacobian matrix J algoritic module；
S3: when robot controller is by the instruction value X of cartesian spaceCWhen issuing robot controller, robot control
Device pass through nominal inverse kinematics, homogeneous transformation with error parameter positive kinematics and solve joint sky using geometry Jacobi is counter
Between the method that combines of deviation, realize compensation campaign algorithm.Robot is improved in the absolute fix precision of cartesian space.
Specifically include following steps；
S31: cartesian space pose instruction value X is solved by nominal inverse kinematics modelCCorresponding each joint name
Value θ；
S32: and then the joint nominal value that previous step solves is updated to the positive kinematics model for considering geometric error
In, solve the cartesian coordinate value X for considering geometric errorE；
S33: cartesian coordinate error amount Δ X=X is solvedC-XE；
S34: by the Jacobian matrix J of joint position q at this time, and the J that inverted-1, combine with the Δ X that S33 is obtained and ask
Solution obtains the deviation δ q that joint space corresponds to each axis；
S35: each joint coordinates value q=q+ δ q is compensated；
S36: the compensated joint coordinates value of S35 is updated in the positive kinematics for considering geometric error, is solved joint and is mended
Cartesian coordinate value X after repayingE；
S37: the error delta X=X between cartesian coordinate instruction value and compensated cartesian coordinate value is calculatedC-XE, than
Compared with it compared with specified cartesian coordinate allowable error δ size；If it is S38 is really entered, otherwise enter S34；
S38: the joint coordinates value q of single compensation newest in S35 is issued in the positioner of each axis.
The modified Descartes comprising geometric error is calculated using the inverse solution of robot name in the S31 and S32 of step S3 to sit
Scale value, specific as follows:
XE=f (q, ɡ+Δ ɡ) (4).
The position and attitude error of cartesian space is mapped to by joint variable by geometry Jacobian matrix J in the S34 of step S3,
It is specific as follows:
δ q=J-1(q)·ΔX (5)。
The present invention is further understood for convenience, is named out specific embodiment and is illustrated.
Experimental system has used six-shaft industrial robot, and recognizes geometric error parameter using laser tracker, and use
Robot controller demonstrates the method, wherein (wherein X, Y, Z are indicated coordinate system used in experiment service machine people as shown in Figure 3
Each reference axis), DH name parameter and Identification Errors parameter under coordinate system are shown in Tables 1 and 2.
Table 1 tests six-joint robot DH name parameter used
Table 2 tests six-joint robot DH Identification Errors parameter used
| i | Δai | Δαi | Δdi | Δθi | Δβi |
| 1 | -0.2863 | 0.0145 | 0 | 0 | - |
| 2 | 0.4227 | 0.0159 | -0.16 | -0.9157 | 0.0289 |
| 3 | 0.0914 | 0.0183 | 0 | 0.3103 | - |
| 4 | 0.0089 | 0.0272 | 0.2785 | -1.2409 | - |
| 5 | -0.1453 | 0.0676 | 0.7922 | -0.0749 | - |
| 6 | 0 | 0 | 0 | 0 | - |
Wherein, a in table 1iFor each length of connecting rod, αiFor each joint windup-degree, diFor each connecting rod offset, θiFor each joint
Joint angle, βiFor the deflection angle of parallel joint spaced winding y-axis；Parameter is the error ginseng after the error identification of each parameter of table 1 in table 2
Number.
The kinematics step of the promotion absolute fix precision of six-shaft industrial machine refers to the above process in experiment.Using promotion
The actual effect of the kinematic method of absolute fix precision is as shown in table 3 and fig. 4.
Table 3 tests the comparison before and after six-joint robot absolute fix precision improvement used
| Index | Minimum value | Mean value | Maximum value | |
| Before promotion | 0.2870 | 0.5754 | 1.0811 | |
| After promotion | 0.0706 | 0.2779 | 0.5887 |
After comparison as can be seen that before and after compensation geometric error, the maximum of the position and attitude error of robot cartesian space coordinate
Value is reduced to 0.5887mm from 1.0811mm, reduce 45.54%, it was demonstrated that the kinematic method that absolute fix is promoted it is effective
Property, it is advantageously implemented the control of machine precise motion, allows the robot to meet some high-precision applications.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (4)
1. a kind of kinematic method for promoting industrial robot absolute fix precision, it is characterised in that: the following steps are included:
S1: the error model of the geometric parameter ɡ of robot is initially set up, to robot end's in the working space of robot
Position and attitude error Δ X is acquired, and is recognized using discrimination method to the DH geometric parameter error delta ɡ of robot；Robot
Kinematic relation between terminal position X and joint variable q are as follows:
X=f (q, ɡ) (1)
After considering geometric parameter error delta ɡ, the kinematic relation between robot end position and joint variable are as follows:
X+ Δ X=f (q, ɡ+Δ ɡ) (2)
By relational expression (1) and (2), the relationship between the position and attitude error Δ X of robot end and geometric parameter error delta ɡ is established
Are as follows:
Δ X=Η (ɡ) Δ ɡ (3)
Wherein, Η (ɡ) is error identification Jacobian matrix, this matrix, can be in the hope of square after the joint position of known machine people
Battle array actual value；It therefore, can be in the hope of joint error Δ ɡ through relational expression (3) by detection robot end's position and attitude error；
S2: nominal Arithmetic of inverse kinematics module f is separately designed in robot controller-1, with geometric parameter error delta ɡ just
Kinematic Algorithms XEModule and calculating robot's geometry Jacobian matrix J algoritic module；
S3: when robot controller is by the instruction value X of cartesian spaceCWhen issuing robot controller, robot controller passes through
Nominal inverse kinematics, homogeneous transformation with error parameter positive kinematics and solve joint space deviation using geometry Jacobi is counter
The method combined realizes compensation campaign algorithm.
2. a kind of kinematic method for promoting industrial robot absolute fix precision according to claim 1, feature exist
In: the S3 specifically includes the following steps:
S31: cartesian space pose instruction value X is solved by nominal inverse kinematics modelCCorresponding each joint nominal value θ；
S32: and then the joint nominal value that previous step solves is updated in the positive kinematics model for considering geometric error, it asks
Solution considers the cartesian coordinate value X of geometric errorE；
S33: cartesian coordinate error amount Δ X=X is solvedC-XE；
S34: by the Jacobian matrix J of joint position q at this time, and the J that inverted-1, combine with the Δ X that S33 is obtained and solve
The deviation δ q of each axis is corresponded to joint space；
S35: each joint coordinates value q=q+ δ q is compensated；
S36: the compensated joint coordinates value of S35 is updated in the positive kinematics for considering geometric error, after solving joint compensation
Cartesian coordinate value XE；
S37: the error delta X=X between cartesian coordinate instruction value and compensated cartesian coordinate value is calculatedC-XE, compare it
The size compared with specified cartesian coordinate allowable error δ；If it is S38 is really entered, otherwise enter S34；
S38: the joint coordinates value q of single compensation newest in S35 is issued in the positioner of each axis.
3. a kind of kinematic method for promoting industrial robot absolute fix precision according to claim 2, feature exist
In: the modified cartesian coordinate value comprising geometric error is calculated using the inverse solution of robot name in the S31 and S32 of step S3,
It is specific as follows:
XE=f (q, ɡ+Δ ɡ) (4).
4. a kind of kinematic method for promoting industrial robot absolute fix precision according to claim 2, feature exist
In: the position and attitude error of cartesian space is mapped to by joint variable by geometry Jacobian matrix J in the S34 of step S3, specifically
It is as follows:
δ q=J-1(q)·ΔX (5)。
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