Research Of Kinematics Error Compensation And Optimal Trajectory Planning For Hybrid Robot

Abstract:In the practical application of industrial robots, the accuracy and efficiency are the important indicators of the robot’s performance. In order to improve the accuracy and efficiency, the paper has studied the error compensation technology and optimal trajectory planning of the independent design and processing’s hybrid palletizing robots. The main contents are as follows.The kinematics analysis of hybrid robot. The structural characteristics of hybrid robot is analyzed, established the D-H coordinate System and calculated the kinematics model, also the correctness of the model is verified; the kinematics solution and inverse kinematic solution are analyzed and deduced from three aspects as position, velocity and acceleration.Studied on the position-posture error modeling and compensation algorithm of hybrid robot. Based on the modified D-H model, the error modeling is analyzed using the matrix method; Set the sampling function of robot’s joint, analyzed the impact of different structural parameter errors on the robot end-effector position error by programming. Based on the analysis of the robot error compensation methods,the error model is analyzed through the perturbation error compensation method.The optimal trajectory planning of hybrid robot based on genetic algorithm. After the analysis and comparison of robot trajectory planning method in the joint space and cartesian space, given a detailed calculation of the robot trajectory planning in the joint space to obtain the hybrid robot trajectory equation. Studied the principle of time optimal trajectory planning and genetic algorithm to optimize the design of the trajectory equation by using the interval as optimization index, obtained the optimal hybrid robot trajectory.Studied on the error calibration and compensation experiment of hybrid robot. The hybrid robot error measurement platform is established to measure the three-dimensional coordinates of robot’s multiple positions. Proposed the error identification’s theoretical approach of the error model’s structural parameter. Analyzed the data points and identified the robot’s structure parameter errors to experiment the error compensation. It demonstrates the timeliness and feasibility of the hybrid robot’s error compensation method.