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How to Improve Precision of Industrial Robots
Jun 19,2023
Industrial robots play a crucial role in the industrial field and daily life, and the goals to be achieved have become increasingly complex. This requires sufficient and accurate robot posture implementation. The positive precision of robots is a key criterion for evaluating their characteristics.
To enhance the positive precision of robots, high-precision calibration must be carried out. Calibration can be divided into three levels: the first level is the calibration of the controller and joint sensors, which clarifies the relationship between the information caused by the joint angular displacement sensor and the specific joint displacement; In the second level, under the premise of the first level, the calibration of robot geometric parameters is added to address the pose errors caused by the independent variable errors of fitness motion and structural parameter errors of each component crankshaft; The third level is non geometric shape calibration, for errors caused by joint flexibility, friction, gaps, and crankshaft flexibility.
Dalian Industrial Robot
In the case of calibration, measurement is the Committed step before the main parameter identification and compensation, including joint offset measurement and equipment position and attitude measurement. The pose measurement methods also include touch and non-contact methods, in which the touch measurement team has a relatively large pose limit for robots; In non-contact measurement, CMMs only measure small and medium-sized robots, while laser trackers are relatively sensitive to environmental hazards. At the same time, practical operations are complex and measurement time is long.
Researchers from the School of Aerospace and Structural mechanics of Tongji University in Shanghai clearly proposed a visual effect measurement method with more dynamic capture. A group of NOKOV measuring Motion capture cameras are arranged around the robot, and several reflective marker points are pasted on each crankshaft of the robot. According to the tracking marker points, the change data of global coordinates during robot movement are obtained.
The information fusion obtained by the NOKOV measurement Motion capture system software Rodrigues is to transform the obtained joint offset, and integrate the robot dynamic entity model and coordinate transformation correlation to complete the calibration with a small amount of errors in the main parameters. According to this method, the joint offset and geometric parameters of the serial robot can be calibrated simultaneously through a single experiment.
NOKOV can measure the accuracy level of Motion capture system software to submillimeter level, which can meet the measurement requirements of higher accuracy.
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