装配机器人位姿误差建模和补偿研究.pdfVIP

Mechanical Engineering and Technology 机械工程与技术, 2016, 5(4), 391-399 Published Online December 2016 in Hans. /journal/met /10.12677/met.2016.54048 Research on Modeling and Compensation of Pose Error of Assembly Robot Jizhuang Hui, Jingyuan Lei, Jinlong Zhang, Gongwei Zhao Chang’an University, Xi’an Shaanxi th th th Received: Dec. 9 , 2016; accepted: Dec. 24 , 2016; published: Dec. 29 , 2016 Copyright © 2016 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Open Access Abstract An error compensation method is proposed for the problem of low positioning accuracy that the assembly robot has due to the sudden change of velocity and acceleration and the bad phenomena such as shock and vibration. Firstly, DH is used to construct the coordinate transformation ma- trices of each joint, and the mathematical model of the robot is deduced. Secondly, the transfer matrix method is used to construct the robot error model and expression based on DH parameters. Finally, the error model is calculated by perturbation compensation method. The experimental results show that the proposed error compensation method can effectively improve the position- ing accuracy of the end of the assembly robot, and it is a good tool for the assembly of the robot. The error compensation method is used to calculate the position error of the robot. Further study provides a reference. Keywords Assembly Robot, Kinematics Analysis, Error Modeling, Error Compensation 装配机器人位姿误差建模与补偿研究 惠记庄，雷景媛，张金龙，赵功伟 长安大学，陕西 西安 收稿日期：2016年12月9 日；录用日期：2016年12月24 日；发布