Automated Correction of Trajectory Tracking Errors in Flexible Joints of Industrial Robots
The conventional automated correction of trajectory tracking errors mainly relies on analyzing interference variables for error correction,ignoring the influence of flexible joint atti-tude angles on constraint parameters,resulting in smaller error correction values.Therefore,a method of automated correction of trajectory tracking errors in flexible joints of industrial robots is proposed.A kinematic model of an industrial robot is established,and the attitude angle is ob-tained by comprehensively calculating the pitch angle and roll angle of the flexible joints of the in-dustrial robot;on this basis,the constraint parameters of the flexible joints are obtained and the correction coefficient is calculated to complete continuous automated correction of trajectory tracking.The experimental results show that the error correction values obtained by the proposed method after application are relatively large,with a mean of 0.2 rad.The correction effect is ex-cellent and meets the practical application needs of industrial robots.
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