Compensation of kinematic transmission errors on industrial robots (HyComp II)

与传统机床相比，工业机器人在更大的工作空间、更高的灵活性和更低的投资成本方面具有显著的优势。然而，与传统机床相比，红外成像的路径精度较低，限制了其应用的可能性。特别是对于加工任务，其中路径精度是制造过程质量的决定性因素，红外的精度比传统机床低100到1000倍。这种情况阻碍了红外在许多加工过程中的广泛应用。产生路径误差的主要原因是机器人关节或其传动系的非线性动力学。这些是由所采用的精密传动装置及其传动误差引起的，这些误差是由滞后和运动传动误差引起的。在第一个资助阶段，对机器人传动系统的迟滞和摩擦行为的多维度（载荷、温度、频率）进行了研究和建模。在此基础上，提出了一种补偿磁滞扭转的方法。在单轴试验台上，与无补偿的基于电机的P-PI控制相比，该方法可将跟踪误差降低高达90%。剩余的误差部分主要是由于传动装置的运动传动误差。然而，对于高级加工任务来说，这些尺寸仍然太大。第二个资助期的主要重点是运动学传动误差的多维度研究和建模及其补偿。这应该使IR在没有额外传感器的情况下能够执行苛刻的加工任务。

Industrial robots (IR) offer significant advantages over conventional machine tools in terms of a larger work space, higher flexibility and lower investment cost. However, the lower path accuracy of IR compared to conventional machine tools limits their application possibilities. Especially for machining tasks, where the path accuracy is a decisive factor for the quality of the manufacturing process, the accuracy of IR is inferior to conventional machine tools by a factor of 100 to 1000. This circumstance prevents the widespread use of IR for many machining processes. The reasons for the occurring path errors are to be attributed in particular to the nonlinear dynamics of the robot joints or their drive train. These are in turn caused by the employed precision transmissions and their transmission errors resulting from hysteresis as well as kinematic transmission errors. In the first funding period, the multidimensionality (load, temperature, frequency) of the hysteresis and friction behavior of robot transmissions was investigated and modeled. Based on this, a method was developed to compensate for the torsion caused by hysteresis. On a single-axis test bench, it was demonstrated that this reduces the tracking error by up to 90 % with respect to the motor-based P-PI control without compensation. The remaining error portion is largely due to the kinematic transmission errors of the transmissions. However, these are still too large for advanced machining tasks. The main focus of the second funding period is the investigation and modeling of the multidimensionality of the kinematic transmission errors as well as their compensation. This should qualify IR without additional sensors to perform demanding machining tasks.