Research On Online Error Measurement And Real-time Control Compensation Technology For Industrial Robots

As an important part of "Made in China 2025",high-end equipment manufacturing industry,reflects a country's level of industrial technology,and has received extensive attention.At present,our country is developing a number of major projects,such as large aircraft,marine engineering equipment and nuclear power equipment.The important characteristic of these industries is the large size and the high precision requirements,which the traditional processing method is difficult to meet.Because of the relatively low price,good flexibility and large working space,industrial robots have been widely used in the field of mechanical processing.Therefore,in this paper,an online error measurement and real-time control compensation system for industrial robots is proposed,which makes the industrial robot be applied in the field of mechanical processing.The position and attitude of the robot are measured in real-time by the external measuring equipment,and the position and attitude error compensation is realized by combining the corresponding compensation algorithm so as to improve the accuracy of the robot in the process of machining.The structure of the KUKA KR5 arc industrial robot is introduced.The configuration mode and implementation process of the KUKA Robot Sensor Interface are explored.Besides,the KUKA robot is calibrated based on the D-H model.In order to improve the position and attitude accuracy of the industrial robot,an on-line measurement and real-time control compensation system for industrial robot based on laser tracker is established.The program which makes the communication between the PC and the robot as well as the laser tracker available is written.The measurement data of laser tracker are acquired by PC and the errors by calculating are transferred to the robot through the KUKA RSI,which will be compensated.Based on the constructed system,the position error measurement and online compensation experiments of industrial robot are carried out.By comparing with the calibration results,it is proved that the error compensation system established in this paper has the advantage of high precision.Meanwhile,a method for measuring the attitude of industrial robot based on laser tracker is proposed.The experiments of measuring and compensating of the robotic attitude error are carried out based on the system.The compensation strategy of the industrial robot in continuous path is proposed,which includes the piecewise interpolation multi point compensation and real-time compensation strategy for continuous path.And a real-time error compensation algorithm based on PID is proposed.The experimental results show that the system can achieve high precision in the robotic continuous path tasks.