彭商贤, 方浩天, 张平. 装配机器人高精度定位补偿系统[J]. 机器人, 1992, 14(3): 11-16,23..
PENG Shangxian, FANG Haotian, ZHANG Ping. HIGH PRECISION SYSTEM WITH POSITIONING COMPENSATION FOR ASSEMBLY ROBOT. ROBOT, 1992, 14(3): 11-16,23..
摘要本文提出了一种机器人高精度定位补偿系统，介绍了一种位姿误差补偿方法．系统采用非接触式位姿精度测量仪测取机器人位姿误差，用 IBM 微机采集位姿误差数据并计算关节补偿脉冲数，通过专用通讯接口将计算机结果传到位移机器人控制系统以实现关节补偿．并采用微位移法确定测量坐标与手爪计算坐标系间的变换．此外还建立了一个供实验用的误差数据库，当机器人工作时，通过周围3关节误差值，用插值法求得该工作点的误差补偿值实现补偿．
Abstract：This paper presents a method of robot position error compensation and introduces a high precision positioning system of robot.In this system,a precision measuring device with uncontact sensors is used to obtain the robot position error and a IBM microcomputer is used to collect position error data and calculate the pulses of compensation in each joint.Through the communication interface designed,the computional result is transmitted to robot's control system to realize the compensation of each joint.Transformation between coordinates of the measuring device and the robot hand is obtained by microdisplacement method.And a simple data bank used for error compensation in workspace is built for initial experiment to get the position error value by interpolating and then compensate it.
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