Development Of Error Experiment System For Industrial Robots

With the continuous development and progress of society,the level of industrial automation has been continuously improved,and the quality requirements of products and society for enterprises and society have become higher and higher.The application of industrial robots in various fields has become increasingly widespread.Nowadays,the requirements for industrial robots are constantly increasing,which means that industrial robots can perform specified actions and can be accurate and efficient.This article takes the college's existing industrial robot as the research object,completes the transformation and construction of the robot's hardware,and designs and develops the upper computer software with the robot's motion control and error recognition functions.Firstly,according to the structure of the college's existing industrial robots,this paper established a link coordinate system and solved the kinematics equations of the model industrial robot,and obtained the positive and negative solutions of kinematics.Then used MATLAB software to verify the kinematics results,and then simulated and analyzed the working space of the industrial robot.Secondly,determined the control mode between servo and motion controller to complete the control hardware system of the robot.Using LabVIEW to call the library function of the TRIO motion control card through an ActiveX control,a method for realizing the servo control and a control example of a single servo axis are provided,and a movement parameter setting module,an axis parameter display module,a manual control module,and an interpolation are completed.The upper computer software of the module,joint angle display module,error module,and other display modules performs the functions of the control module and display module of the interpolation experiment verification software.Finally,the error and origin of the robot's movement were analyzed.The error model of the robot's geometric parameters was established.The measuring instrument was used to measure the position and posture to verify the error of the robot.The actual pose of the robot was measured,and methods and examples for establishing a coordinate system and ahomogeneous transformation matrix based on the measurement data were given.Using the least squares algorithm developed in the PC software,the geometric parameter error of the robot was identified.At the same time,the source of the error could be determined by the software display information,and the validity of the algorithm and the availability of the software could be verified.The error of the geometrical parameters obtained was compensated for the simulation test,and the results showed that the positioning accuracy of the robot was improved.