Research On Compensation Method Of Machining Errors Based On MOTOMAN UP50 Robot

With the development of science and technology,industrial robots in manufacturing,especially in the field of machining are receiving more and more attention by researchers,producers and experts and scholars due to their advantages,including lower cost,good mobility,high flexibility and so on.It's difficult to replace their advantages in the process of part machining,especially in the process of complex curved surface parts machining.This paper starts with industrial robots applications,analyzing the main factors that cause machining errors and reducing these factors to robot joint errors.Then,it uses robot kinematics to analyze total machining errors of the end-effector of a specific robot according to the error transfer theory and compensates robot joint errors to improve the cutting precision of the robot to some extent by converting three-dimensional base coordinate errors to joint coordinate errors according to the mapping relation between the Cartesian coordinate system and the joint coordinate system of the robot.The primary contents of this paper are as follows:(1)With the known link parameters of the robot,using the transformation equation of the robot links to model robot forward and inverse kinematics based on the Motoman UP50 robot.(2)Analyzing the main source of machining errors in a simple robot cutting system and considering how to use an easy and cheap method to compensate machining errors based on robot kinematics.Then using the Motoman UP50 robot to improve that the compensation method is true and feasible.(3)Aiming at some shortcoming of the compensation algorithm,which includes large amount of calculation and tedious steps,it selects a new method that using neural network to replace robot kinematics to forecast and calculate the robot machining errors.This method can reduce computational burden of the error compensation method and provide timely and effective support for improving cutting accuracy of the robot.