关键词: 机器人, 误差补偿, 定位精度, 伪目标

Abstract: Aiming at the problems of error compensation after robot error modeling, an improved algorithm was proposed based on pseudo target iteration. This algorithm generated a new pseudo target in each iteration to correct the joint angles, thereby continuously reducing the actual errors of the robot. The pseudo target iterative algorithmic process was improved to mature the algorithm flow, 5 new and different false target generation methods were proposed, and the characteristics and applicable scenarios of each method were analyzed. An ensemble algorithm was proposed combining multiple false target generation methods to further improve the accuracy of error compensation. Using the HSR-JR612 robot to carry out simulation experiments, the simulation results show that the algorithm takes milliseconds and the compensation effectiveness is good, and the integrated algorithm may further improve the pose compensation effect. Finally, the UR10 robot and the laser tracker were used for experiments. The experimental results show that after compensation, the position errors of the robot end may be reduced to less than 0.06 mm, and the attitude errors may be reduced to less than 0.025°.

Key words: robot, error compensation, positioning accuracy, pseudo target