Application of Industrial Mobile Robots in Intelligent Manufacturing
As a leading industry in the intelligent manufacturing industry,the low accuracy of mobile milling ro-bots in the aerospace manufacturing industry has become an important factor hindering the efficiency and quality of industrial operations.To help improve the accuracy control technology of mobile milling robots,based on the re-quirement of absolute positioning accuracy,the robot model was constructed using the D-H model method.Com-bined with the Siemens 840Dsl control system,the kinematic characteristics of the mobile milling robot were com-prehensively analyzed,and a joint angle error compensation strategy and coordinate system correlation transforma-tion scheme under the second measurement system were proposed with the key point of joint transformation.The results showed that after implementing the optimized compensation strategy,the absolute positioning accuracy of the end effector and the overall motion trajectory accuracy of the milling robot were significantly improved.
Industrial mobile robotIntelligent manufacturingAccuracy controlTrajectory
万方数据
维普
