Research on Method and Experiment of the Industrial Robot Positioning Error Compensation

摘要

The low absolute positioning accuracy of the industrial robot is unable to meet the practical application requirements and the foreign robot control system is not open.A positioning error compensation method will be introduced.Based on the modified DH model,kinematics parameters are identified with laser tracker and singular value decomposition.The direct kinematics is rebuilt by changing the kinematics parameters,and the new position will input robot controller.The method is applied to STAUBLI TX90XL robot.The result shows that the average absolute positioning accuracy changes from 1.685mm to 0.215mm after compensation.So it indicates the method is effective.