フーリエ級数を用いた産業用ロボットの伝達誤差補償
Transmission Error Compensation for Industrial Robots Using Fourier Series
レーザートラッカ計測から速度依存フーリエ級数モデルで関節の伝達誤差を同定し、CNCの指令値を補正することで産業用ロボットの精度を向上させた。
著者: Christian J. E. Bauer, Simon Nowinski, Valentin Kamm, Lukas Steinle, Armin Lechler, Alexander Verl
分類: eess.SY, cs.RO, eess.SP
原文アブストラクト
Due to their low accuracy, industrial robots commonly require online teaching after the offline development of a robot program in simulation. The accuracy is limited by compliance and transmission errors in the robot joints. Transmission errors are defined as errors between the load-side angles of the gearboxes and the motor encoder angles. An approach to identify the transmission errors based on laser tracker measurements is presented. The developed velocity-dependent Fourier series model is integrated in a virtual commissioning software as a co-simulated functional mock-up unit. Additionally, it is used to compensate the transmission errors by correcting the setpoint from the computerized numerical control (CNC). The model identification and the compensation are experimentally evaluated with a Stäubli TX2-40 industrial robot. The model has a mean absolute error of 0.114 mrad, and the compensation improves the accuracy by 83.26 % for axis 2 and 49.21 % for axis 3.