Research on method of serial robot relative position correction

摘要

For the problem of serial robot structure error, method of relative position correction was researched. An adaptive filtering correction method based on robot joint position feedback was proposed. The method built a robot joint adaptive filtering corrector( AFC) to correct robot joint feedback. The real spatial position of robot end-effector can be got through the forward kinematics computation with the corrected joint feedback. Thus, the robot structure error is corrected. Weights matrices of AFC were trained with relative positions between calibration points on the standard calibration module. The proposed method of relative positions correction provides a new way for serial robot structure error correction, which does not directly modify the robot kinematics design parameters, dose not need measuring equipment, and can be applied in field. The simulation results got with LabVIEW robot module show that the corrected trajectory of robot end-effector is more approaching to its true trajectory than before, which means the robot structure error is effectively corrected.