Analysis Of Serial Robot Accuracy With Multiple Error Factors And Its Error Compensation

With the development of industrial technologies, industrial robots have been widely applied in various industrial domains, leading the trend of industrial upgrade and transformation. To satisfy the demands of buyers’ market, the life spans of products are rapidly shortened, while the upgrade processes are swiftly accelerated. In order to fit the market’s fast varying demands, the application situations of industrial robots are no more limited to conventional massive and large-scale production lines, but have expanded to flexible production tasks, realizing multi-species and small-scale production patterns. The error factors which affect robot accuracy are rather complicated under highly flexible working conditions, causing troubles to ensure positioning accuracy.The dissertation elaborates the related research of industrial robot accuracy and error compensation approaches. According to the FANUC M-l0iAe robot manipulating cell, the kinematics model of the robot is established and the trajectory planning of the task is complicated. Also the dynamic equation of the robot is deduced using lagrangian method. These works laid the foundation of following simulation. On the base of analysis and synthesis of the various error factors, they are concluded to static and dynamic factors. The end error caused by link flexibilities is obtained using finite element method, the effects of random errors are simulated using Monte Carlo method and the dynamic part is completed by a multi-body dynamics model. Based on the theory of independent affection of error sources, the comprehensive error is obtained, which is later experimentally verified. On the foundation of error data previously acquired, a graphical user interface is designed and programmed using MATLAB. The GUI realizes automatic error compensation calculation based on user defined inputs, as well as the graphical demonstration of compensation results. Such a error compensation interface provides a solution to robot accuracy control under flexible working conditions.