一种指数积公式的机器人建模与参数辨识
Robot Modeling and Parameter Identification Based on an Exponential Product Formula
张永贵 1牟亚雄 1冯飞翔1
作者信息
- 1. 兰州理工大学机电工程学院,甘肃 兰州 730000
- 折叠
摘要
对于六轴机器人而言,由于自身关节柔度和机械臂刚度不足,会导致机器人在修型加工过程中末端定位精度不高,从而使机器人产生加工误差.为了提高机器人修型加工精度,基于指数积公式建立MOTOMAN UP50机器人的误差模型,并推导了基于指数积公式的六轴机器人误差补偿模型以及参数识别方法.通过MOTOMAN UP50机器人实验平台对零部件进行修型加工测量实验,并应用该建立的误差补偿模型验证,实验结果表明,基于指数积公式的误差模型有助于提高机器人修型加工,从而验证了其方法的正确性.
Abstract
For a six-axis robot,due to the lack of flexibility of its own joints and insufficient rigidity of the robotic arm,the posi-tioning accuracy of the end of the robot during the remodeling process is not high,which causes the robot to produce processing er-rors.In order to improve the machining accuracy of robot repair,it establishes the error model of the MOTOMAN UP50 robot based on the exponential product formula,and derives the error compensation model and parameter identification method of the six-axis robot based on the exponential product formula.The MOTOMAN UP50 robot experiment platform is used to perform re-pair processing measurement experiments on parts and components,and the established error compensation model is used to veri-fy.The experimental results show that the error model based on the exponential product formula can help improve the robot repair processing,thereby verifying its the correctness of the method.
关键词
六轴机器人/指数积公式/参数识别Key words
Six-Axis Robot/Exponential Product Formula/Parameter Identification引用本文复制引用
基金项目
兰州市科技局科技计划项目(20180429)
出版年
2023
NETL
NSTL
维普
万方数据