Research Of Positioning Error Compensation Method Based On KUKA Industrial Robot

Along with the advance of productivity level and the rapid development of science and technology, industrial robots, as the representative of advanced and intelligent industrial equipment, have been widely used in many aspects of social life, especially in the field of auto industry, industrial robots have been used quite mature and widely. Body size deviation of cars is the most important factors affecting body quality, the industrial robot laser detection system of automobile body size detection technology, as a representative, is one of the most effective means for global automakers lower body size deviation and improve body manufacturing precision, make the study of industrial robot positioning accuracy has very important engineering significance and economic significance.First of all, the KUKA industrial robot, as one of the most commonly used industrial robots, this thesis on industrial robots laser detection system used KUKA industrial robot as an example. The thesis makes a theoretical analysis for its kinematics problem and expounds the establishment of forward kinematics and the method of solving inverse kinematics, using MATLAB Robotics Toolbox carried on the kinematics simulation of the model.Secondly, on the basis of kinematics model, considering the geometrical error,the biggest factor affected of industrial robot positioning accuracy, adopt the method of differential make the geometric deviation model is established; Considering the engineering application of body laser detection, analyzes the body coordinate system and the robot laser measurement coordinate system does not overlap, cause a coupling effects on the industrial robot positioning accuracy, accordingly on the basis of geometric deviation model established a body positioning error model based on the KUKA industrial laser detection system, and proceeded a model simulation, determine its validity and accuracy.Again, in the research on the positioning error compensation method of industrial robot, first of all, based on the industrial robot body positioning error model has been established, using Newton-Raphton iterative algorithm for a simulation verification.Considering the limitations of positioning error compensation based on the error model,designed a suitable BP neural network for a network approximation to KUKA robot error model and proceed error compensation, and completed the contrast simulation experiment.The results showed that the BP neural network adopted to improve the positioning error compensation has higher positioning error compensation accuracy than the compensationbased on error model.Finally, considering the problem such as slow convergence rate of the traditional BP neural network, PSO algorithm is proposed combined with BP neural network algorithm,and optimize the BP neural network, make the KUKA robot positioning error compensation effect is better.