Analysis And Simulation Of Work Space And Error Compensation On Industrial Robot

With the rapid development of industrial robots, and the gradual expansion of scope of application, the problem on work space and pose error analysis of the industrial robot has become a hot topic. However, these studies are almost always for a single robot, while there is a little even no study of using two series robots on its work space and error compensation. The thesis is based on two 6-DOF robots with the main studies of work space and error compensation and other issues of industrial robot, and the specific research contents are as follows:(1) For the structure of the six-DOF industrial robot, a D-H model is established through the relationship between the coordinates to analyze the various robot joints, and to obtain the coordinate transformation matrix. Then the thesis studies the issue of the kinematics and inverse kinematics, and provides a theoretical basis for the following work space analysis and error analysis.(2) On the basis of analyzing the working principle of FARO measuring arm, the error detection and compensation processes after connecting between FARO measuring arm and industrial robot are detailed. The thesis provides preconditions for the following kinematic analysis of industrial robot, and lays the foundation for the research of the work space and error compensation of industrial robot.(3) The industrial robot work space when jointing measurement robot is different from a single industrial robot work space when working alone. And at this point the problem of work space is more difficult to determine, so numerical solutions to industrial robot work space is proposed. The work space of six degrees of freedom PUMA industrial robot at the initial solution is simulated using MATLAB software. The relationships between the spherical angle and the work space of industrial robot are obtained.(4) Taking advantage of measurement robot, the position and attitude of industrial robot in a certain position can be obtained, and the position and posture of industrial robot using kinematics, inverse kinematics equations are calculated. Then the pose errors of industrial robot at this time are acquired. Then attach on values of the opposite position and orientation in the measurement range of the measurement robot, and carry out tracking measure of measurement robot, so as to achieve compensation error. Finally, through Crystal Ball simulating the error original position and orientation as normal distribution, to complete the simulation of the pose errors on value for each joint angle, and an average error of each joint angle are obtained.In conclusion, the thesis analyzes and simulates work space and error compensation of industrial robot, and makes up the insufficiency of analysis or simulation only to a single robot's work space and error compensation previously. The thesis provides new ideas and methods for work space and error compensation when multiple robots linkage in future, and has important theoretical value and technical significance.