Positioning error compensation of 6-DOF robots based on anisotropic error similarity

Guanbin GAO; Jinpeng NIU; Fei LIU; Jing Na

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Positioning error compensation of 6-DOF robots based on anisotropic error similarity

更新时间：2022-08-22

- Positioning error compensation of 6-DOF robots based on anisotropic error similarity
- Optics and Precision Engineering Pages: 1-13(2022)
- 作者机构：
  
  昆明理工大学机电工程学院，云南昆明 650500
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242.2
- Received：03 April 2022，
  
  Revised：10 May 2022，
  
  Published Online：22 August 2022，
- 稿件说明：
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高贯斌,牛锦鹏,刘飞等.基于各向异性误差相似度的六自由度机器人定位误差补偿[J].光学精密工程,

GAO Guanbin,NIU Jinpeng,LIU Fei,et al.Positioning error compensation of 6-DOF robots based on anisotropic error similarity[J].Optics and Precision Engineering,
高贯斌,牛锦鹏,刘飞等.基于各向异性误差相似度的六自由度机器人定位误差补偿[J].光学精密工程, DOI：10.37188/OPE.XXXXXXXX.0001

GAO Guanbin,NIU Jinpeng,LIU Fei,et al.Positioning error compensation of 6-DOF robots based on anisotropic error similarity[J].Optics and Precision Engineering, DOI：10.37188/OPE.XXXXXXXX.0001

摘要

多关节机器人的绝对定位精度远低于重复精度，目前通常采用运动学标定或空间误差补偿来提高机器人定位精度。空间误差补偿通常采用反距离加权来预测定位点的误差并进行补偿，但反距离加权的权值评价单一且各参考点权值过于平均限制了补偿精度的提高，为此，本文基于空间误差相似度提出一种包含距离和方向的定位误差预测和补偿方法。首先，推导出机器人定位误差模型，将机器人工作空间划分为由若干立方体组成的网格，研究在空间网格中定位点与参考点的相对方向与误差相似度的关系，并构建以距离和夹角余弦为误差传递因子的误差传递函数。其次，考虑定位点各坐标轴方向误差和参考点误差的相似性存在较大差异，基于误差传递函数提出一种各向异性的相似度建模和误差补偿方法，利用网格中各参考点的误差分别计算定位点各方向的误差。最后，通过实验对所提方法进行验证，并与传统的反距离加权插值补偿方法进行对比，实验结果表明：经过误差补偿后，机器人定位误差在各坐标轴方向的最大值和平均值都有显著降低，误差最大值和均值由补偿前的1.03 mm和0.30 mm分别降至0.11 mm和0.04 mm，与反距离加权方法相比补偿后机器人定位精度更高、各方向更均匀。

Abstract

The positioning accuracy of multi-joint robots is much lower than its repetition accuracy. At present， kinematic calibration and spatial error compensation are the main methods to improve the positioning accuracy of robots. Generally， the inverse distance weighting is used to predict the error of positioning point in spatial error compensation. As the single weight， the inverse distance cannot reflect the real influence of each grid point for the weight is too average， which will lead to poor compensation result. Therefore， a positioning prediction and compensation method including distance and orientation is proposed based on the error similarity to improve the positioning accuracy of robots. Firstly， the positioning error model is derived from the kinematic model with differential kinematic theory， based on which the relationship between the joint angles and positioning error is analyzed. The workspace of robots is divided into a grid composed of several cubes， in which the influence of direction of the positioning point to the reference point on error similarity is studied. Then， the error transfer function is constructed with the cosine of the included angle and the distance as the error transfer factor. Secondly， considering great difference of the positioning error in

，

and

directions an anisotropic similarity modelling and error compensation method is proposed based on the error transfer function using the error of reference points to calculate the error of positioning point. The proposed method is verified by experiments， and compared with the traditional inverse distance weighting method. The experimental results show that after compensation， the maximum and average positioning errors of the robot decreased greatly in all direction. After compensation the maximum errors and average errors in

，

and

directions decreased from 1.03mm and 0.30mm to 0.11mm and 0.04mm， respectively. Furthermore， the compensation accuracy of the proposed method is higher than that of the traditional inverse distance weighting method.

关键词

Keywords

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