装配机器人高精度定位补偿系统

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.

HIGH PRECISION SYSTEM WITH POSITIONING COMPENSATION FOR ASSEMBLY ROBOT

This paper presents a method of robot position error compensation and introduces a high precision position-ing system of robot.In this system,a precision measuring device with uncontact sensors is used to obtain therobot position error and a IBM microcomputer is used to collect position error data and calculate the pulses ofcompensation in each joint.Through the communication interface designed,the computional result is trans-mitted to robot's control system to realize the compensation of each joint.Transformation between coordi-nates of the measuring device and the robot hand is obtained by microdisplacement method.And a simple databank used for error compensation in workspace is built for initial experiment to get the position error value byinterpolating and then compensate it.