扩展卡尔曼滤波和配准算法的工业机器人误差补偿
Error Compensation of Industrial Robots Based on Extended Kalman Filters and Registration Algorithm

针对现有工业机器人误差，特别是工业机器人末端轨迹精度低、实时监测计算复杂等问题，提出利用扩展卡尔曼滤波器和配准算法组合提高机器人末端轨迹精度的算法，解决了机器人末端精度低、控制补偿不准确等问题。建立SCARA机器人数学模型，同时建立基于扩展卡尔曼滤波和配准算法的机器人误差补偿模型，通过扩展卡尔曼滤波、配准算法进行误差补偿，实现了末端精度的提高。通过仿真验证，分析对比机械手末端轨迹补偿前后的误差，证明了算法的可靠性与准确性。
In view of existing overloading error for the industrial robot, especially the industrial robot general problems:the terminal trajectory has low precision; the calculation of real-time monitoring is complex and so on. In this paper, the way of extended Kalman filters combined with registration algorithm is proposed to improve position precision of the robot, the problems such as the low precision of terminal trajectory and the inaccurate analysis of control compensation have been solved. First, the mathematical model of SCARA robot and error analysis evaluation model are established. Based on extended Kalman filters and registration algorithm, the terminal trajectory precision has been improved. As result, through simulation by professional software, analyzing the difference of using algorithm and not using algorithm, the reliability and accuracy of the algorithm is proved