Research On Automatic Correction And Compensation Of Motion Deviation For Multi-degree-of-freedom Non-orthogonal System

Mu lt i-degree-of-freedo m non-orthogonal systems(such as industrial robots,space manipulators,flexible measuring machines,etc.)are widely used in various fields(Industrial manufacturing,space station construction,etc.)due to their high efficiency,flexibility,high precision,and high stability.Industrial robots are the most typical multi-degree-of-freedom non-orthogonal systems,In order to improve their positioning accuracy,model parameters need to be modified.The traditional industrial robot model parameter error correction compensation method and technology,because the interface between the measurement and compensation system was not open generally,requires manual participation,the model calibration process takes a long time,the robot calibration efficiency is low,and the technical capabilities of the operator are relatively high.To this end,carry out research on industrial robot automation correction compensation technology,build an open interconnected closed-loop correction compensation system,improve the speed and accuracy of industrial robot calibration,and realize automatic and efficient calibration of robots.This thesis is supported by National key research and development plan"Compensation Technology of Motion Trajectory for Multi-degree-of-freedom Non-orthogonal System(No:2018YFF0212703)",researched on auto correction and compensation technology of motion deviation for Multi-degree-of-freedom Non-orthogonal System,proposed a robot distance error identification method based on improved IGG3 weight function,designed and built a multi?degree of freedom non-orthogonal system and revise the compensation system to realize the automatic calibration of industrial robot kinematics deviation.The research on the automatic correction and compensation technology for the motion deviation of multi-degree-of-freedom non-orthogonal systems is carried out.Theoretical research on industrial robot kinematics is carried out.The models of the forward and inverse solutions of the robot and the workspace are established respectively,and the simulation research is performed using MATLAB;A position error model and a distance error model are established,redundant parameters and measured configuration numbers are analyzed,and a robot distance error calibration algorithm based on improved IGG3 weight function is proposed;the compensation system software for a multi-degree-of-freedom non-orthogonal system motion deviation automatic is developed based on Visual Studio,and developed the underlying motion algorithm of the industrial robot based on the robot controller platform;built an automatic calibration software system based on the Leica AT960 laser tracking and the SIASUN robot and a calibration system based on the API laser tracker and the SIASUN robot and carried out a series of experimentsIn this thesis,the research on auto correction and compensation technology of motion deviation for Multi-degree-of-freedom Non-orthogonal System,the main research work and the research results obtained are summarized as follows:(1)The kinematics model of SR4C industrial robot is established.According to the size structure of SR4C industrial robot,the D-H model is established,and the MATLAB Simulink module is used for simulation verification.The obtained kinematics parameters were used to derive forward kinematics and inverse kinematics algorithms,and their accuracy was verified.(2)The scheme is designed and the parameter identification algorithm is derived.The overall design scheme of the industrial robot automatic calibration software system is determined;the robot position error model and distance error model according to the robot differential transformation theory is derived;the redundant parameters of the SR4C industrial robot according to the linear relationship between the models is analyzed;the author obtained five observability indexes through the singular value of the Jacobian,the influence of different configuration numbers on condition numbers and observability indexes is analyzed and the best observed configuration number is determined;an algorithm for distance error calibration of industrial robots based on improved IGG3 weight function is proposed and verificated.(3)An automatic calibration compensation software system is designed and implemented.The low-level motion algorithm is designed in the robot controller,the joint space trajectory planning and Cartesian space trajectory planning algorithms based on trapezoidal velocity planning are derived,and the inverse solution is used to convert the Cartesian space coordinates to the joint space coordinates;On the platform of Visual Studio 2013,an industrial robot automatic calibration software host computer was developed and designed to realize data communication between the laser tracker,the host computer and the robot controller.(4)Experimental researches are carried out.An automatic calibration software system based on Leica AT960 laser tracking and SIASUN robot is constructed,the least square method and the improved IGG3 weight function of robot distance error calibration method were performed on a sampling sphere with a radius of 100 mm based on this automatic calibration software,respectively;a calibration system based on API laser tracker and SIAUN robot is constructed,experiments on sampling spherical radiuses of 100 mm and 300 mm based on the least square method and the robot distance error calibration method with improved IGG3 weight function are carried out.The experimental results show that the robot distance error calibration algorithm with improved IGG3 weight function can improve the position accuracy after identification from 58.8%of the least square method to 70.2%in the identification experiment.In the compensation experiment,the robot distance error calibration algorithm with improved IGG3 weight function can improve the robot terminal accuracy by 32.26%,which effectively improves the robot terminal accuracy.