基于区间分析的机器人绝对定位精度分析方法

摘要/Abstract

摘要： 针对6R机器人绝对定位精度不高的现状，提出了一种基于误差的分析方法。该方法通过区间分析和POE方程对机器人误差进行建模，并通过修正一些区间运算规则得到更为准确的扩展区间运动学方程。分析了扩展区间运动学方程的层级特性，提出了一种易于扩展并且能有效降低区间依赖特性的层级区间运动学方程，并针对该方程由于过度扩展而无法得出精确结果的问题提出了一种区间矩阵优化方法。通过蒙特卡罗法以及和传统区间方法对比的仿真实验，验证了所提出方法更为高效，并且能够近似计算出理想的结果。某汽车变速箱装配线的6R机器人螺栓拧紧工序实验结果表明，所提出的分析方法比传统的区间方法更有效更精确。

关键词: POE方程, 区间分析, 绝对定位精度, 6R机器人

Abstract: This paper proposed a method for improving the absolute positioning accuracy of 6R robot based on the analysis of error sources. A more precise and closer extended forward kinematics was deduced based on modified interval calculation rules and POE formula. Then a hierarchy interval kinematics was proposed,which was easy to extended to other kind of robots as well as handle interval dependency,and the overestimation of which might be eliminated by interval matrix refinement developed herein. Monte Carlo samples and the results of contrast simulation between the hierarchy interval kinematics and existing extended interval kinematics show the presented kinematics can get as tight results as desired results more efficient than the existing ones. The presented method was executed on a 6R robot of an automatic transmission assembly line that plays role of tightening screws. Experimental results show that the proposed approach is more efficient and accurate than existing analytic methods.

Key words: POE formula, interval analysis, absolute positioning accuracy, 6R robot

中图分类号:

TP242.2

黄康, 何春生, 甄圣超, 洪健, 赵福民. 基于区间分析的机器人绝对定位精度分析方法[J]. 中国机械工程.

Huang Kang, He Chunsheng, Zhen Shengchao, Hong Jian, Zhao Fumin. An Absolute Positioning Accuracy Analysis Method for Robot Based on Interval Analysis[J]. China Mechanical Engineering.

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