工业机器人机械零位的测量与标定方法-机械电子工程专业论文.docx

华中 科技 大学 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract Improving robot accuracy by error compensation is one of the key techniques in self- developped and application of industrial robot. Aiming at 6R Welding robot, the dissertation carries out research on robot error analysis, measurement of mechanical zero and calibration of kinematic parameters: The robot end-effector location error resulting from various errors has been analyzed and the respective robot location error analytic model has been developed. The paper fully considers the influence of static error, robot link and joint flexibility on robot location accuracy, and then all kinds of influencing factors to robot location error are attributed to robot structural and kinetic parameters. The compensation of robot end-effector location error resulting from various factors has been studied by the kinematical programming. Mechanical zero measurement to the 6R robot has beed developed by separately measuring and positioning robots six joint axises based on laser tracking, and the compensation of the robot joint angle zero has been done after obtaining the robot joint angle parameters between the adjacent axis. The mechanical zero measurement and the relevant angle measurement is analysed, as well as the method of improving the laser tracker’s measurement accuracy in the experiment considering the error factors influencing the measurement accuracy of robot linkage location is detailedly analysed. Finally, the kinematic calibration of the robot based on pose measurement by laser tracking has been developed. A nominal D-H coordinate has been established on the basis of the robot own kinematics constraints, and by using accurate pose measurement to achieve parameters identification, the kinematic parameters error is calculated based on robot static pose error analytic model, and then the compensation of the robot kinematic parameters is finished. The experiment results are significant. The position error RMS of the robot is