Collaborative Positioning Accuracy Attitude Error Correction for Dual-Arm Industrial Robots
In order to improve the adaptability of the robotic arm to multiple control states during cargo handover,a two-arm industrial robot collaborative positioning accuracy attitude error correction method is designed to achieve the purpose of robotic arm motion parameter calibration.A mathematical model of the residual attitude error of the robotic arm is established to accurately calculate the residual positioning error of the robotic arm.The results of the study show that the motion characteristic curve presents the characteristics of smooth distribution,and the degree of sudden change in acceleration is small,indicating that the system can meet the requirements of working conditions.The effective compensation of attitude error can more accurately complete the cooperative positioning of the two arms,and thus accurately identify the parameters of the arm base coordinate transformation.This study helps to improve the efficiency of the collaborative action of the two-armed industrial robot and lays a certain theoretical foundation for the subsequent parameter optimisation.
万方数据
维普
