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本文提出了一种机器人高精度定位补偿系统,介绍了一种位姿误差补偿方法.系统采用非接触式位姿精度测量仪测取机器人位姿误差,用 IBM 微机采集位姿误差数据并计算关节补偿脉冲数,通过专用通讯接口将计算机结果传到位移机器人控制系统以实现关节补偿.并采用微位移法确定测量坐标与手爪计算坐标系间的变换.此外还建立了一个供实验用的误差数据库,当机器人工作时,通过周围3关节误差值,用插值法求得该工作点的误差补偿值实现补偿.
In this paper, a robot high-precision positioning and compensation system is introduced, and a method of position and position error compensation is introduced. The system uses the non-contact position and attitude measurement instrument to measure the robot’s position and orientation errors, collects the position and attitude error data by IBM microcomputer and calculates the joint Compensates the pulse number, passes the computer result through the specialized communication interface to the displacement robot control system in order to realize the joint compensation.Micro-displacement method is used to determine the transformation between the measurement coordinate and the gripper’s coordinate system.An experiment is also established for the error Database, when the robot work, through the joint 3 around the error value, using the interpolation method to find the error compensation value of the work point to achieve compensation.