Research On Robot Machining Trajectory Precision Compensation Based On Space Grid

In the national major scientific and technological engineering projects,there are more and more demands for processing various large-scale components,and the processing quality is higher and higher.Generally,there is no suitable machine tool for processing,and the processing quality requirements are also getting higher and higher.Generally,there is no suitable machine tool for processing.With the development of industrial robot technology,industrial robots are widely used in the milling,welding and other fields of large-scale components.Although industrial robots have high repetitive positioning accuracy,due to the structure and external influence of industrial robots,the absolute positioning accuracy of robots has become a key problem restricting the development of robots.Therefore,this thesis will focus on improving the absolute positioning accuracy of industrial robots.Firstly,this thesis takes kukkr160r1570 nano robot as the research object,establishes the forward kinematics model of robot based on DH parameters,establishes the kinematics error model of robot based on the analysis of robot positioning error;expounds the identification method of single joint kinematics parameters,and the axis method is used to identify the kinematic parameters of the robot;In order to explore the distribution law of robot positioning error,the experiment of robot joint angle error measurement is completed,and simulation of the influence of joint angle error on the position accuracy of robot end actuator is carried out.Secondly,to improve the absolute positioning accuracy of the robot as the main goal,it is proved that there is a certain similarity between the positioning errors of the robot in the space by simulation,and the principle of the robot error compensation technology is described;The mapping relationship between robot joint input and positioning error output is established,and the estimation method of the positioning errors of the robot based on the inverse distance weighting and the Kriging interpolation are proposed.The method of robot positioning error estimation based on inverse distance weighting is proved to be able to improve the absolute positioning accuracy of robot by approximately 62%.Finally,in order to improve the accuracy of robot machining trajectory,the strategy of robot machining trajectory error compensation technology is described based on the machining requirements of all kinds of parts.The common intersecting curve is modeled mathematically,and the geometric characteristics of the space curve are studied.The chord error is introduced in the interpolation of the space curve,and the interpolation is based on the principle of equal arc length To verify the effectiveness of the interpolation method,the robot positioning error compensation method of space grid is used to improve the accuracy of robot machining trajectory.