Research On Static Pose Error And Compensation Of Six Degrees Of Freedom Serial Robot

According to mechanical structure,industrial robots can be divided into: serial robots and parallel robots.A serial robot is an industrial robot in which one axis motion changes the coordinate origin of the other axis.The application of serial robots in the fields of arc welding,assembly,sorting,etc.is becoming more and more extensive,requiring serial robots to meet certain accuracy requirements.The serial robot has higher repeat positioning accuracy,while the absolute positioning accuracy is relatively low.Therefore,improving the absolute positioning accuracy of robots has become one of the important research directions in the field of robot research.The paper taking the JLRB20 serial robot as the object,the static pose error and its compensation are analyzed.The main work is as follows:Firstly,based on the DH modeling method,the JLRB20 serial robot kinematics model is established,and the DH parameters are determined,the forward kinematics and inverse kinematics analysis are performed on the robot.According to the MDH modeling method,and the kinematics model is modified,solved and simulated to obtain the optimal inverse solution for a given target pose,and Jacobian matrix is solved.Secondly,the static pose error model of JLRB20 serial robot is established,the sampling function is set to sample the robot pose,the pose error is simulated and analyzed to determine the influence law of the angle parameter error.The derivative error is compensated for the influence of the attitude error on the position error of the end.Thirdly,based on the static pose error model of the JLRB20 serial robot,the pre-compensation method is applied to the robot joints to pre-apply additional items,so that the robot end correspondingly produces small additional motion to reduce or offset the robot end positioning error,in order to achieve the desired pose,and verify the error compensation effect through simulation.Finally,the reliability evaluation index of static pose error of JLRB20 series robot is established.Monte-Carlo method is used to analyze the influence of joint parameter error on the accuracy of static pose error of the robot to determine the key influencing factors of static pose error of the robot.It provides a basis for improving the reliability of the static pose error of the robot.