Research of the Method of Parameter Identification and Error Compensation of Industrial Robot

Abstract

Aiming at the lower absolute positioning accuracy of robot,the compensation method of establishing the robot kinematics error model through D- H method is put forward. However,the robot structure needs to meet the Pieper law,so only the influence of the joint rotation angle of the robot error model on the robot end error is taken in consideration. The real joint rotation angle of error model can be identified by using the least square method to compensate the error,Meanwhile,and the second time compensation is carried out by using the circle method. At last,the corrected parameters is compensated to the controller so as to improve the absolute positioning accuracy. The method is verified on the developed industrial robot with 6- DOF. The positioning accuracy is improved from 3. 55 4. 45 mm to 0. 924 1. 242 mm after compensation,the effect is obvious and a reliable basis for the research of robot accuracy is also provided.