Analysis And Compensation Of Position Errors Of Rigid-Flex Coupling Series Industrial Robot

The accuracy of the end position accuracy of the tandem industrial manipulator can be used as an index to evaluate the performance of the manipulator.It directly affects the manufacturing of the manipulator in the industry and restricts the further development of the manipulator.Therefore,this subject aims at the comprehensive influence of the nonlinear deformation of the welding manipulator due to the flexibility of the link,the joint flexibility,etc.,analyzes the dynamics of the rigid-flexible coupled manipulator and studies the method of compensating the position error of the end of the manipulator caused by the flexibility.Improve the accuracy of the end position of the robot arm.This paper takes the IRB1410 tandem manipulator as the research object,the main research work is as follows:Firstly,establish a mathematical model of forward and inverse kinematics.Based on the screw theory,the forward and inverse kinematics model of the IRB1410 robotic arm is established and they are calculated.The robot toolbox in MATLAB is used to numerically simulate the kinematics of the robotic arm to obtain the trajectory curves of the joint and end Verify the subsequent rigid body virtual prototype model to lay the foundation.Secondly,the rigid-flexible coupling dynamic model of the manipulator,the mathematical model of the terminal motion error and its simulation are established.Based on the hypothetical modal method,the second type Lagrange method and the equivalent torsion spring flexible joint method,the rigid-flexible coupling dynamic equations of the manipulator are derived,and the Newmark ? method is used for numerical simulation.The software establishes a virtual prototype model of the rigid-flexible coupling of the robotic arm and conducts joint simulations,analyzes and compares the dynamic response amplitude changes of the end of the robotic arm under the two simulations,and provides a basis for the compensation of the comprehensive error of the position of the end of the rigid-flexible coupled robotic arm.Furthermore,a motion error compensation algorithm for the end effector of the robotic arm is constructed.Discrete the terminal trajectory obtained during simulation,design the BP neural network as an error generation simulator,and calculate the compensation angle value of the robot arm joint based on the adaptive particle swarm algorithm of crossover and mutation and the pseudo target point method,respectively At the same time,the position error of the small end is compared and analyzed.Finally,experimental verification.Use the theodolite,mechanical arm and other experimental equipment to build a measurement experiment platform,select several sets of angle values of each joint involved in the simulation,and measure the end position points of the robot arm before and after hanging the weight,respectively,to obtain the error data of the end position Considering the real-time nature of the compensation,the pseudo target point method is selected to compensate for the end position error,and the effectiveness and feasibility of the method are verified.