关键词: 标定, 定位精度, 工业机器人, 精度补偿, 空间插值

Abstract: With the development of technology of robot, industrial robot is used more and more widely in the industrial field. The industrial robot usually has a high repeat positioning accuracy and a low absolute positioning accuracy. According to Denavit-Hartenberg kinematics model, the robot coordinate system is established, meanwhile the geometric error model is also established by taking account of errors introduced in joint parameters. The inner relationship between positioning accuracy of two adjacent points is discussed by using the error model, and therefore the concept of positioning errors similarity is proposed. Above on this, a method of robot accuracy compensation based on spatial interpolation is proposed. A KUKA robot is introduced to invalidate the proposed method, and the results show that by using the accuracy compensation method the maximum value of the robot positioning error is 0.386 mm, and the mean value is 0.156 mm, which are much more better than the previous values 1~3 mm, thus the method is feasible and effective.

Key words: Accuracy compensation, Calibration, Industrial robots, Positioning accuracy, Spatial interpolation