面向飞机装配的机器人定位误差和残差补偿

doi:10.7527/S1000-6893.2016.0235

Abstract

Abstract:

Nowadays, industrial robots have been increasingly applied to aircraft automatic drilling and riveting system due to their high flexibility and low cost. The key to product quality assurance is compensating the absolute positional errors of the robot effectively. In order to further improve end location accuracy of the robot, a method of compensation for residual error based on error similarity is proposed. The geometric parameters of the robot are first identified based on kinematics parameter calibration. The residual error is then compensated based on error similarity. An experiment on the KUKA KR-30 HA industrial robot is conducted to demonstrate the effectiveness of the compensation. The result shows that the average absolute positioning accuracy of the robot can be improved from 0.879 mm to 0.194 mm after compensation of the positioning error. The average absolute positioning accuracy is further increased to 0.141 mm after a residual compensation. The maximum absolute positioning error is reduced by 80.16% from 1.492 mm to 0.296 mm. This method can compensate the residual errors left over after parameter identification effectively.

Key words: aircraft assembly, precision compensation, residual error compensation, least square method, error similarity

CLC Number:

HE Xiaoxu, TIAN Wei, ZENG Yuanfan, LIAO Wenhe, XIANG Yong. Robot positioning error and residual error compensation for aircraft assembly[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(4): 420538-420538.

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Robot positioning error and residual error compensation for aircraft assembly

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