摘要
工业串联机器人的定位精度尤其是绝对定位精度较低,使其在高精度制造领域受到较大的限制,因此设计机器人受力在线补偿系统以提高其绝对定位精度。该系统基于KUKA机器人的RSI接口,通过测量机器人末端受力值,结合机器人的刚度矩阵计算误差,对机器人进行在线补偿,为了改善性能,将基于PID算法的补偿算法加入控制系统中。最后分别分析了比例环节、积分环节、微分环节的补偿效果。实验结果表明,比例环节有较好的补偿效果,而积分、微分环节对补偿效果没有改善;同时,调节比例系数,可以得到最好的补偿效果,在本系统中,当比例系数为4.0时为最优,此时,补偿效果达到40.5%。
The positioning accuracy,especially the absolute positioning accuracy of the industrial serial robot,is low,so it is limited in the field of high precision manufacturing. Therefore,an online force compensation system is designed to improve its absolute positioning accuracy. The system is based on the robot sensor interface( RSI) of KUKA robot. It can calculate the error by measuring the force value of robot end and using the stiffness matrix of robot,and compensate robot online. In order to improve the performance,an algorithm based on PID algorithm is added to the control system. Finally,the effect of proportional component,integration component and differentiation component is analyzed respectively. The result shows that the proportional component is effective,while the other two is ineffective. Besides,the better compensation effect can be gotten by adjusting proportional coefficient. In this system,when P = 4. 0,the effect is the best and it can be up to 40. 5%.
出处
《电子测量与仪器学报》
CSCD
北大核心
2018年第3期142-148,共7页
Journal of Electronic Measurement and Instrumentation
基金
国家自然科学基金(51675497)
北京市自然科学基金(3162034)
质检总局科研(ANL1617)资助项目
关键词
工业机器人
变力
补偿
PID
industrial robot
variable force
compensation
PID
