Research on Compensation Technology for Pose Error of Robotic Arm End Considering Elastic Deformation
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.
robotic armthe end of the robotic armmechanical arm postureelastic deformationposture errorerror compensation
万方数据
维普
