移动机器人定位精度实时补偿策略研究

doi:10.3901/JME.2022.14.044

机械工程学报 ›› 2022, Vol. 58 ›› Issue (14): 44-53.doi: 10.3901/JME.2022.14.044

• 特邀专栏：大型构件视觉测量与机器人加工 • 上一篇下一篇

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移动机器人定位精度实时补偿策略研究

杨继之¹, 乐毅^1,2, 张加波¹, 周莹皓¹, 赵长喜¹, 陈钦韬¹

1. 中国空间技术研究院北京卫星制造厂有限公司北京 100094;
2. 清华大学机械工程系北京 100084

收稿日期:2021-07-15 修回日期:2021-10-11 出版日期:2022-07-20 发布日期:2022-09-07
通讯作者: 张加波(通信作者)，男，1981年出生，博士，研究员。主要研究方向为数控及智能制造、机构装配集成。E-mail：airforce_81@163.com
作者简介:杨继之，男，1992年出生，工程师。主要研究方向为机器人精度补偿与仿真。E-mail：cast_yangjizhi@163.com;乐毅，男，1982年出生，博士研究生，高级工程师。主要研究方向为移动机器人集成与数控加工技术。E-mail：ley20@mails.tsinghua.edu.cn
基金资助:
国家自然科学基金资助项目(52075533，62003346)。

Real-time Compensation Strategy of Mobile Robot Positioning Accuracy

YANG Jizhi¹, YUE Yi^1,2, ZHANG Jiabo¹, ZHOU Yinghao¹, ZHAO Changxi¹, CHEN Qintao¹

1. Beijing Spacecrafts, China Academy of Space Technology, Beijing 100094;
2. Department of Mechanical Engineering, Tsinghua University, Beijing 100084

Received:2021-07-15 Revised:2021-10-11 Online:2022-07-20 Published:2022-09-07

摘要/Abstract

摘要： 移动机器人作为解决大型复杂构件原位加工的有效技术途径，其定位精度直接影响产品加工质量和效率。为此，基于数控系统驱动工业机器人的控制架构，提出一种定位精度实时补偿方法。通过拉丁超立方体采样实现机器人关节空间采样点选取，并通过计算采样点集偏差优化采样点集的空间均匀性；建立机器人关节空间与末端位置误差多元非线性映射模型，通过回归系数的求取实现模型结构的简化，基于采样点集完成模型预测精度评估；基于商用数控系统实现机器人工具中心点(Tool center point，TCP)度实时补偿，验证机器人工作空间内不同位姿下TCP点位置误差，通过直线插补轨迹准确度验证了补偿实时性和稳定性。试验结果表明，数控系统驱动的工业机器人定位精度综合误差的最大值由补偿前的1.635 mm降低到补偿后0.334 mm，降低了79.6%，补偿前后的轨迹准确度并未发生明显变化，证明上述方法的有效性和正确性，为移动机器人的应用推广奠定基础。

关键词: 移动机器人, 精度提升, 采样点优化, 实时补偿, 误差映射模型

Abstract: As an effective technical way to solve the in-situ processing of large and complex components, the positioning accuracy of mobile robots directly affect the quality and efficiency of product processing. For this reason, a real-time compensation method for positioning accuracy is proposed based on the control architecture of an industrial robot driven by a CNC system. The sampling point selection of the robot joint space is realized by Latin hypercube sampling, and the spatial uniformity of the sampling point set is optimized by calculating the deviation of the sampling point set; A multivariate nonlinear mapping model of robot joint space and end position error is established. The structure of the model is simplified by calculating the regression coefficient, and the prediction accuracy of the model is evaluated based on the set of sampling points; Based on the commercial CNC system, the real-time compensation of the robot's TCP point accuracy is realized, and the position error of the robot's TCP point in different pose is verified. The real-time compensation and stability are verified by the accuracy of the linear interpolation trajectory. The experimental results show that the comprehensive error of maximum positioning accuracy of industrial robot driven by CNC system is reduced by 79.6% from 1.635 mm before compensation to 0.334 mm after compensation. The trajectory accuracy before and after compensation does not change significantly, which proves the effectiveness and correctness of the above method, and lays a foundation for the application and promotion of mobile robot.

Key words: mobile robot, accuracy improvement, sampling point optimization, real-time compensation, error mapping model

中图分类号:

TP242

杨继之, 乐毅, 张加波, 周莹皓, 赵长喜, 陈钦韬. 移动机器人定位精度实时补偿策略研究[J]. 机械工程学报, 2022, 58(14): 44-53.

YANG Jizhi, YUE Yi, ZHANG Jiabo, ZHOU Yinghao, ZHAO Changxi, CHEN Qintao. Real-time Compensation Strategy of Mobile Robot Positioning Accuracy[J]. Journal of Mechanical Engineering, 2022, 58(14): 44-53.

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移动机器人定位精度实时补偿策略研究

Real-time Compensation Strategy of Mobile Robot Positioning Accuracy

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