Research On Error Compensation And Vibration Suooression Of Hanging Industrial Robots

With the popularization of automation technology,industrial robots are widely used in industrial production because of their advantages of efficiency,intelligence and economy.The more mature application areas include automobile manufacturing,metal processing,metallurgy and petrochemical.The absolute positioning error of industrial robots,as a typical example of high precision and high efficiency,is an important factor affecting the quality of its application.The positioning error problem and the vibration problem in the suspension installation application seriously affect the performance and accuracy of the robot.How to compensate for the positioning error and inhibit the vibration of industrial robots is of great significance to its application.In this paper,6-DOF hanging industrial robot as the research object,the establishment of kinematics and structural model,and its movement is positive and inverse solution for a detailed derivation and elaboration,while the use of MATLAB robot toolbox module to simulate and verify it.Secondly,this paper analyzes and expounds the influencing factors of the robot error problem,and uses the differential transformation method to select the structural parameters which affect the positioning error of the robot and establish the corresponding error parameter model.After the analysis of the compensation method of industrial robot positioning error,the compensation scheme is established by using NR iterative error compensation method.The scheme is verified by MATLAB and related test experiments.The simulation results show that the compensation scheme is effective in solving the problem of robot in industrial application Of the positioning error problem has a high effectiveness.In addition,this paper also analyzes the domestic and foreign research methods on the vibration of industrial robots,and studies the ways in which the trajectory is optimized.Firstly,according to the source of the vibration,the simplified dynamic model of the joint is established,and the corresponding differential vibration equation is deduced.Then,the parameters of the trajectory curve are introduced,and the path curve of the robot is optimized by joint velocity and moment parameter.So as to achieve the purpose of suppressing vibration.At the same time,in the optimization process,the optimization target model is established to ensure the improvement of its motion performance while improving the efficiency of the robot.In this optimization scheme,the pseudo velocity limiting curve,the optimization control point and the pseudo velocity optimization curve are proposed and the final optimized trajectory curve is obtained.At the same time,the effectiveness of the vibration suppression scheme is verified by the form of simulation analysis.