| As the intelligent representative of advanced industry,the absolute positioning precision of industrial robot has become the key index in the manufacturing of high precision equipment.Based on the kinematics analysis model of the robot,the kinematics calibration and error compensation technology of the robot are completed in this paper.The research contents are as follows:First,Six-axis robot robot was taken as the research object,and the kinematics analysis model was established by using the standard D-H modeling method,and the forward kinematics equation and the inverse solution formula were obtained.On this basis,the geometric error model of the robot terminal is established by differential method.Secondly,API Radian Pro laser tracker,STS six-dimensional sensor and API RMS software were selected as the measurement system to provide reliable data for robot kinematics parameter identification and error compensation method research.Thirdly,based on the geometric error model of the end of the robot,taking the actual position data and the ideal position data of the end as samples,the least square method and genetic algorithm were used to complete parameter identification.D-H parameters are modified in the controller to complete the task of kinematics parameter calibration.Finally,considering that the robot positioning error is a compound error affected by multiple factors,the joint variable error prediction of robot is completed by using the nonlinear fitting ability of BP neural network,and the aim of improving the positioning accuracy of the robot is achieved by compensating the joint variable error.At the same time,the genetic algorithm(GA)and differential algorithm(DE)are introduced to solve the problem that it is difficult to select the initial value of weight and threshold in BP neural network,which improves the convergence speed and global optimal search ability of traditional BP neural network,and makes the location error compensation effect of robot better.. |
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