机器人加工精度在线控制的研究

提出一种基于KUKA机器人控制器的在线控制方法，用来实时补偿工业机器人在钣金加工中由于自身柔性所产生的加工误差。在已有机器人末端接触力与位置误差关系的基础上，根据机器人控制器自身限制条件和编程语言，设计出简化控制算法和相应的程序，用于对加工中的机器人末端位置进行实时补偿，以达到提升加工精度的目的。该在线实时控制的方法通过实验与分析后，被证实具有一定的可行性。

Online Correction Method to Improve Accuracy of Robot-Based Processing

A new method is presented for online compensation of the deviation caused by the flexibility of the robot during the robot-based forming process. On the basis of the relationship between force and deviation at the end of the robot, the controller has been designed according to the document of the KUKA robot controller. This can compensate the deviation during the robot-based processing and improve the accuracy. Through the final test results, this online correction method is demonstrated and verified.