Conventional techniques for compensating pose errors at the end of a robotic arm mainly rely on solving position parameters to achieve pose error compensation,which,ignoring the impact of the arm's own elastic deformation on error compensation,results in low compensation accuracy.Therefore,a study on compensation technology for end pose error of robotic arms considering elastic deformation is proposed:building a kinematic modeling of the end effector of a robotic arm based on the definition of four parameters.Based on this,the elastic deformation errors of the connecting rod,joint,and end effector of the robotic arm are analyzed based on parameters such as tensile strength;the origin coordinate system of the robotic arm is established to identify the pose parameters,and;the pose error compensation value is calculated based on the elastic deformation situation.The experimental results show that the error compensation results obtained after the application of the proposed technology exhibit high repeatability of the calibration trajectory and high accuracy of the compensation results,meeting the practical application accuracy requirements of the robotic arm.
关键词
机械臂/机械臂末端/机械臂位姿/弹性变形/位姿误差/误差补偿
Key words
robotic arm/the end of the robotic arm/mechanical arm posture/elastic deformation/posture error/error compensation
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