刚柔耦合串联机械臂末端位置误差分析与补偿

Analysis and Compensation of End Position Error of Rigid-Flexible Coupling Serial Manipulator

摘要:

机械臂连杆柔性、关节柔性等非线性变形的综合影响，导致其末端位置发生偏离而产生误差。本文以IRB1410型串联机械臂为研究对象，采用理论分析、仿真分析与实验验证相结合的方式，对机械臂末端位置误差进行分析与补偿研究。首先，建立机械臂刚柔耦合理论误差模型，并运用Newmark β法进行数值仿真分析；联合ANSYS和ADAMS进行刚柔耦合机械臂末端位置运动误差仿真；为了实现快速补偿，提出基于BP神经网络的伪目标点法对位置误差进行补偿，补偿后其位置误差均方根减小了68.3%，说明该方法具有较好的补偿效果；最后，自主设计并搭建了测量实验平台，采用所提算法进行了误差补偿实验，对比补偿前后距离误差，补偿后误差均方根减小了77.01%，验证了伪目标点法对柔性误差补偿的有效性。

Abstract:

Due to the combined effects of non-linear deformations such as link flexibility and joint flexibility, the end position of the robot arm deviates, resulting in errors. For this problem, the IRB1410 serial manipulator was used as the research object. Through the combination of theoretical analysis, simulation analysis and experimental verification, the position error of the end of the manipulator was analyzed and compensated. A theoretical error model of the rigid-flexible coupling of the robotic arm was established and the Newmark β method was used for numerical simulation analysis; ANSYS and ADAMS were used to carry out the simulation of the motion error of the rigid-flexible coupled robotic arm, and the change of the end position error was analyzed. In order to achieve rapid compensation, a pseudo target point method based on BP network was proposed to compensate the position error based on the simulation error data. The root mean square (RMS) value of the position error was reduced by 68.3% after compensation. In terms of time consumption, the method compensated for an average time of 0.393s per point. The compensation results showed that this method had good compensation effect. The error measurement experiment was carried out by designing and building a measurement experiment platform independently, and the proposed algorithm was used to perform experimental error compensation. Comparing the distance error values before and after compensation of the algorithm, the RMS value of the error was reduced by 77.01% after compensation. The results showed that the pseudo target point method was effective and practical for the compensation of flexible errors.