CN109465824A - Robot adjusting method and device - Google Patents
Robot adjusting method and device Download PDFInfo
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- CN109465824A CN109465824A CN201811313923.7A CN201811313923A CN109465824A CN 109465824 A CN109465824 A CN 109465824A CN 201811313923 A CN201811313923 A CN 201811313923A CN 109465824 A CN109465824 A CN 109465824A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Health & Medical Sciences (AREA)
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Abstract
The application provides a robot adjusting method and device, wherein the method comprises the following steps: the method comprises the steps of setting a robot according to a first value of a first joint parameter, obtaining a first repeated positioning error of the robot, adjusting the value of the first joint parameter under the condition that the first repeated positioning error does not meet a first preset condition, enabling the adjusted repeated positioning error of the robot to meet the first preset condition, adopting the scheme, accurately obtaining the joint parameters which have large influences on the repeated positioning error of the robot through a large amount of analysis, and adjusting the parameters in time to ensure the repeated positioning error of the robot.
Description
Technical field
This application involves but be not limited to robot field, in particular to the method for adjustment and device of a kind of robot.
Background technique
In the related art, this project belongs to the accuracy Design field in industrial robot body design.Robot has
Good repetitive positioning accuracy is the basis of robot absolute fix precision.The generally repetition with higher of modern industry robot
Positioning accuracy, but the absolute fix precision of robot is relatively low, there are no robot absolute fixs in the world in the related technology
The reference standard of precision, what manufacturer, robot generally provided is all robot repeatability positioning accuracy.At present in industrial robot
In body design, the guarantee about repetitive positioning accuracy is all fixed to repeating by improving all parts machinings and assembly precision
Position precision carries out qualitative analysis, is unfavorable for cost control, at the same cannot comprehensive and systematic analysis robot repetitive positioning accuracy, do not have
There is corresponding mathematical model that cannot carry out quantitative analysis to repetitive positioning accuracy, repetitive positioning accuracy is difficult in process of production
Accomplish controllable.
For the problem for the scheme complexity for adjusting robot resetting error in the related technology, there is presently no effective
Solution.
Summary of the invention
The embodiment of the present application provides the method for adjustment and device of a kind of robot, at least to solve to adjust in the related technology
The problem of the scheme complexity of robot resetting error.
According to another embodiment of the application, a kind of method of adjustment of robot is additionally provided, comprising: close according to first
Robot is arranged in the first value for saving parameter, obtains the first resetting error of the robot, wherein resetting error
For indicating maximum of the robot when space is in targeted attitude, in multiple activity between robot end's reproducing positions
Deviation；In the case where the first resetting error is unsatisfactory for the first preset condition, first joint parameter is adjusted
Value, so that the second resetting error of robot adjusted meets the preset condition.
According to another embodiment of the application, a kind of adjustment device of robot is additionally provided, comprising: module is obtained,
Robot is set for the first value according to the first joint parameter, obtains the first resetting error of the robot,
In, resetting error for indicate the robot when space be in targeted attitude, it is repeatedly movable in robot end again
Maximum deviation between existing position；Module is adjusted, for being unsatisfactory for the first preset condition in the first resetting error
In the case of, the value of first joint parameter is adjusted, so that the second resetting error of robot adjusted meets
The preset condition.
According to another embodiment of the application, a kind of storage medium is additionally provided, meter is stored in the storage medium
Calculation machine program, wherein the computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
According to another embodiment of the application, a kind of electronic device, including memory and processor are additionally provided, it is described
Computer program is stored in memory, the processor is arranged to run the computer program to execute any of the above-described
Step in embodiment of the method.
By the application, the first value according to the first joint parameter is arranged robot, obtains the first of the robot
Resetting error adjusts described first and closes in the case where the first resetting error is unsatisfactory for the first preset condition
The value of parameter is saved, so that the resetting error of robot adjusted meets the first preset condition, using the above scheme,
By largely analyzing, the joint parameter being affected to the resetting error of robot is accurately obtained, adjusts these ginsengs in time
Number, to guarantee the resetting error of robot.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is a kind of hardware block diagram of the terminal of the method for adjustment of robot of the embodiment of the present application；
Fig. 2 is the flow chart according to the method for adjustment of the robot of the embodiment of the present application；
Fig. 3 is the scale diagrams according to each joint of GR625 robot of the application another embodiment；
Fig. 4 is to be shown according to the robot of the application another embodiment in the repetitive positioning accuracy distribution of entire working space
It is intended to one；
Fig. 5 is to be shown according to the robot of the application another embodiment in the repetitive positioning accuracy distribution of entire working space
It is intended to two；
Fig. 6 is the minimum repetitive positioning accuracy robot pose schematic diagram according to another embodiment of the application；
Fig. 7 is the minimum repetitive positioning accuracy gesture distribution figure according to another embodiment of the application；
Fig. 8 is the half tolerance range bandwidth of joint random motion error according to the application another example to repetitive positioning accuracy
Influence schematic diagram；
Fig. 9 is that the influence according to one joint size of robot of the application another embodiment to repetitive positioning accuracy is shown
It is intended to；
Figure 10 is the influence according to all joint sizes of robot of the application another embodiment to repetitive positioning accuracy
Schematic diagram.
Specific embodiment
The application is described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Embodiment one
Embodiment of the method provided by the embodiment of the present application one can be in terminal, terminal or similar
It is executed in arithmetic unit.For running on computer terminals, Fig. 1 is a kind of adjustment side of robot of the embodiment of the present application
The hardware block diagram of the terminal of method, as shown in Figure 1, terminal 10 may include it is one or more (in Fig. 1 only
Showing one) (processor 102 can include but is not limited to Micro-processor MCV or programmable logic device FPGA etc. to processor 102
Processing unit) and memory 104 for storing data, optionally, above-mentioned terminal can also include for communicating
The transmitting device 106 and input-output equipment 108 of function.It will appreciated by the skilled person that structure shown in FIG. 1
Only illustrate, the structure of above-mentioned terminal is not caused to limit.For example, terminal 10, which may also include, compares Fig. 1
Shown in more perhaps less component or with the configuration different from shown in Fig. 1.
Memory 104 can be used for storing the software program and module of application software, such as the machine in the embodiment of the present application
Corresponding program instruction/the module of the method for adjustment of people, the software program that processor 102 is stored in memory 104 by operation
And module realizes above-mentioned method thereby executing various function application and data processing.Memory 104 may include height
Fast random access memory, may also include nonvolatile memory, as one or more magnetic storage device, flash memory or other
Non-volatile solid state memory.In some instances, memory 104 can further comprise remotely located relative to processor 102
Memory, these remote memories can pass through network connection to terminal 10.The example of above-mentioned network includes but not
It is limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Transmitting device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include
The wireless network that the communication providers of terminal 10 provide.In an example, transmitting device 106 includes that a network is suitable
Orchestration (Network Interface Controller, NIC), can be connected by base station with other network equipments so as to
Internet is communicated.In an example, transmitting device 106 can be radio frequency (Radio Frequency, RF) module,
For wirelessly being communicated with internet.
A kind of method of adjustment of robot is provided in the present embodiment, and Fig. 2 is the robot according to the embodiment of the present application
Method of adjustment flow chart, as shown in Fig. 2, the process includes the following steps:
Step S202, the first value according to the first joint parameter are arranged robot, obtain the first weight of the robot
Multiple position error, wherein resetting error is for indicating the robot when space is in targeted attitude, repeatedly in activity
Maximum deviation between robot end's reproducing positions；
Step S204 adjusts described the in the case where the first resetting error is unsatisfactory for the first preset condition
The value of one joint parameter, so that the second resetting error of robot adjusted meets first preset condition.
Joint parameter includes: joint motion angle, the distance between joint, joint offset or dish.
Through the above steps, robot is set according to the first value of the first joint parameter, obtains the of the robot
One resetting error, in the case where the first resetting error is unsatisfactory for the first preset condition, adjustment described first
The value of joint parameter, so that the resetting error of robot adjusted meets the first preset condition, using above-mentioned side
Case accurately obtains the joint parameter being affected to the resetting error of robot, adjusts these in time by largely analyzing
Parameter, to guarantee the resetting error of robot.
Resetting error can be used for describing repetitive positioning accuracy, and the repetitive positioning accuracy is robot end in work
Make the maximum resetting error generated in space.
Optionally, in the case where the first resetting error is unsatisfactory for the first preset condition, adjustment described first
The value of joint parameter, comprising: when the first resetting error is greater than threshold value, adjust taking for first joint parameter
Value.
Optionally, in the case where the first resetting error is unsatisfactory for the first preset condition, adjustment described first
After the value of joint parameter, obtaining and adjusting the value of first joint parameter is the second value；According to second value
The robot is set, obtains the second repetitive error of the robot, it is described whether detection second repetitive error meets
First preset condition.
Optionally, it before according to the first value setting robot of the first joint parameter, in multiple joint parameters, obtains
The joint parameter for meeting the impact effect of the resetting error the second preset condition is determined as the first joint ginseng
Number.
Optionally, in multiple joint parameters, it is default that acquisition meets second to the impact effect of the resetting error
The joint parameter of condition is determined as first joint parameter, comprising: and repeatedly control robot is movable in working space, and
Obtain the value of the joint motion angle in the multiple joints of each minimum posture of resetting error, wherein robot end is located at
The resetting error of the robot is minimum when working envelope；Robot in multiple activity is in the minimum appearance
When state, it is the first joint that the variation of the value of joint motion angle, which is less than preset range, and first joint parameter is described the
The joint motion angle in one joint.
Optionally, in multiple joint parameters, it is default that acquisition meets second to the impact effect of the resetting error
The joint parameter of condition is determined as first joint parameter, comprising: obtains the random motion error tolerance band band in multiple joints
Wide the first proportionality coefficient for influencing the resetting error, wherein the random motion error tolerance band bandwidth is for indicating
The stability in the joint；It is the first joint that first proportionality coefficient, which is obtained, greater than the joint of threshold value, first joint
First joint parameter described in random motion error tolerance band bandwidth.
Its repetitive positioning accuracy is about 5-10 times of encoder resolution to servo motor in practical applications, and the error is through subtracting
In fast chance reflection to the joint motions error of robot.In design robot, we can be by encoder for servo motor
Resolution ratio P is estimated value of the variable as half tolerance range bandwidth of joint random motion error with subtrahend ratio R, it may be assumed that
By the available random motion error tolerance band bandwidth of above-mentioned formula.
Optionally, in multiple joint parameters, it is default that acquisition meets second to the impact effect of the resetting error
The joint parameter of condition is determined as first joint parameter, comprising: the joint size for obtaining multiple joints influences the repetition
Second proportionality coefficient of position error；Obtain second proportionality coefficient greater than threshold value joint be the first joint, described first
The joint in joint is having a size of first joint parameter.
Optionally, influence rule of the joint parameter to the repetitive positioning accuracy of robot is obtained, comprising: pass through following formula
Determine repetitive positioning accuracy RpWith the relationship of the joint parameter of the robot:
Wherein,J is Jacobian matrix, Δ θjFor random motion mistake
Poor half tolerance range bandwidth, Δ θj=3 σj, σjFor number be j joint random motion error mean square deviation, the random motion
The mean square deviation of error is determined by joint parameter；
It is regular that influence of the joint parameter in multiple joints to the repetitive positioning accuracy of robot is obtained by the formula.
Below with reference to the application, another embodiment is illustrated.
Therefore, it needs to develop the calculation method of the repetitive positioning accuracy of a set of robot in the related technology, realizes to correlation
Repetitive positioning accuracy caused by parameter error influences to carry out quantitative analysis, so that guidance be gone to research and develop and produce.
Another embodiment of the application is intended to solve at present in industrial robot body design, about repetitive positioning accuracy
Guarantee be all that qualitative analysis is carried out to repetitive positioning accuracy by improving all parts machinings and assembly precision, be unfavorable for into
This control, at the same cannot comprehensive and systematic analysis robot repetitive positioning accuracy, without corresponding mathematical model cannot to repeat
Positioning accuracy carries out quantitative analysis, is difficult to controllable problem to repetitive positioning accuracy in process of production.
Another embodiment of the application is illustrated the application with GR625 robot, but does not constitute to this Shen
Limitation please.
1. the mathematical model of robot repetitive positioning accuracy
The mathematical model of its repetitive positioning accuracy is established by taking GR625 robot as an example, Fig. 3 is according to another reality of the application
The scale diagrams for applying each joint of GR625 robot of example, as shown in figure 3, unit can be millimeter.Available robot mark
Quasi- DH parameter is as shown in table 1, and table 1 is GR625 robot model's parameter list according in the related technology, joint in table 11,2,
3,4,5,6 be respectively six joints of GR625 robot from top to bottom in Fig. 3.
Table 1
The error source of robot end can be divided into three classes, and the first kind is that robot is several as caused by manufacturing, assemble etc.
What error, the second class be as temperature, gear engagement, joint flexibility etc. caused by non-geometric error, third class is servo system
Random error caused by the unstability and encoder resolution of system and joint space etc..Wherein geometric error accounts for about robot
The 90% of end overall error, remaining error account for about 10%.The repetitive positioning accuracy of robot is mainly influenced by random error,
And geometric error is the repetitive positioning accuracy that static error will not influence robot.
Robot repetitive positioning accuracy mathematical model is established based on the above fact.The velocity analysis method of robot is quoted,
The relationship between robot end's attitude error and each joint random motion error can be obtained are as follows:
DT=Jd θ formula (1)
Wherein dT is terminal angle error, and J is Jacobian matrix, and depending on the spatial attitude where robot, d θ is each
Joint random motion error.
According to the property of multiple random variables linear function, as d θ1, d θ2, d θ3, d θ4, d θ5, d θ6When mutually indepedent, terminal angle
The mean square deviation of errorWith the mean square deviation of joint random motion error
Between relationship are as follows:
Mainly the servo-system used in robot determines joint random motion error distribution, more for application
The extensive servo drive system that encoder is housed, joint random motion error obey the normal distribution that mean value is 0.Work as robot
When in the posture that some is determined, Jacobian matrix is constant, so robot end's location error dx, dy, dz are also obeyed
The normal distribution that value is 0, it may be assumed that
Dx~N (0, σx 2) dy~N (0, σy 2) dz~N (0, σz 2)
According to 3 σ principles of normally distributed random variable, it is known that:
dx∈[-3σx,3σx] dz∈[-3σz,3σz]
If with resetting error rpRobot is indicated in a certain posture in space, between a series of end reproducing positions
Maximum deviation, then:
If with Δ θjIndicate the half tolerance range bandwidth of random motion error of joint j, then:
Δθj=3 σj
Define repetitive positioning accuracy RpFor robot end in entire working space maximum resetting error, then:
Wherein Ω is the working space of robot.
2. influence of the robot spatial attitude to repetitive positioning accuracy
As half tolerance range bandwidth deltaf θ of joint random motion errorjOne timing, robot is in its repetition of the different posture in space
Positioning accuracy is different.By taking GR625 robot as an example, robot all posture in space, calculating robot are uniformly acquired
End is in the repetitive positioning accuracy of entire working space, and calculated result is as shown in figure 4, Fig. 4 is according to another implementation of the application
In the repetitive positioning accuracy distribution schematic diagram one of entire working space, Fig. 5 is according to another implementation of the application for the robot of example
Example robot entire working space repetitive positioning accuracy distribution schematic diagram two, in figures 4 and 5, the weight of fringe region
Multiple positioning accuracy is minimum, and the repetitive positioning accuracy close to the region in figure center is higher, it can be deduced that, when robot end is located at work
Make that its repetitive positioning accuracy when space boundary is minimum, its local repetitive positioning accuracy close to position among robot is higher.
Posture when robot repetitive positioning accuracy is minimum is as shown in fig. 6, Fig. 6 is according to another embodiment of the application
Minimum repetitive positioning accuracy robot pose schematic diagram, as shown in fig. 6, the end of robot reaches the side of working space at this time
Boundary.Multiple calculating robot entire working space repetitive positioning accuracy and find out repetitive positioning accuracy it is minimum when robot
Posture, for statistical analysis to attitude data, each joint angles data of robot are as shown in fig. 7, Fig. 7 is another according to the application
The minimum repetitive positioning accuracy gesture distribution figure of a embodiment, as shown in fig. 7, six columns from left to right are followed successively by θ1,θ2,θ3,
θ4,θ5,θ6, when robot is in minimum repetitive positioning accuracy posture, θ2,θ3,θ5It concentrates near a certain determining value, and θ1,
θ4,θ6It is evenly distributed, thus we can speculate θ1,θ4,θ6The minimum repetitive positioning accuracy posture of robot is not influenced.
3. influence of the tolerance range bandwidth of joint random motion error to repetitive positioning accuracy
By taking GR625 robot as an example, θ obtained by the above analysis is taken*=[0,0, -82.6 °, 0,0,0] as analysis of joint with
Half tolerance range bandwidth of machine kinematic error is to the reference attitude for repeating location precision.Each half tolerance range bandwidth of joint motions error
Proportional coefficient K variation range is 0.5~4.Enable Δ θj=0.0002 °, the resetting error and fortune being calculated according to formula 4
Dynamic half tolerance range bandwidth proportionality coefficient relationship of error is as shown in figure 8, Fig. 8 is transported at random according to the joint of the application another example
Dynamic influence schematic diagram of the half tolerance range bandwidth of error to repetitive positioning accuracy, as shown in figure 8, Δ θ1,Δθ2,Δθ3It is fixed to repeating
Position precision is affected, and increases with the increase of half tolerance range bandwidth, wherein Δ θ1It is maximum to location precision is repeated,
It secondly is Δ θ2, it is again Δ θ3。Δθ4,Δθ5,Δθ6To repeating, location precision is little.Thus prompt us in design machine
When device people's repetitive positioning accuracy, emphasis considers to improve the stability in first three joint.
Its repetitive positioning accuracy is about 5-10 times of encoder resolution to servo motor in practical applications, and the error is through subtracting
In fast chance reflection to the joint motions error of robot.In design robot, we can be by encoder for servo motor
Resolution ratio P is estimated value of the variable as half tolerance range bandwidth of joint random motion error with subtrahend ratio R, it may be assumed that
4. influence of the joint of robot size to repetitive positioning accuracy
Robot size has an impact to repetitive positioning accuracy.In general, bigger its resetting essence of the size of robot
It is poorer to spend.Now by taking GR625 robot as an example, using each joint size of robot as the influence for influencing robot repetitive positioning accuracy
Factor.It takes obtained by the above analysisAs analysis robot joint size to repetition location precision
Reference attitude.Each joint Proportional coefficient K variation range is 0.5~2.Enable Δ θjIt=0.0003 °, is calculated according to formula 4
Resetting error and joint of robot dimension scale Relationship of Coefficients are as shown in figure 9, Fig. 9 is according to another embodiment of the application
Influence schematic diagram of the one joint size of robot to repetitive positioning accuracy, as shown in figure 9, joint size is to repeating positioning accurate
Influence degree is descending is followed successively by d4, a2, a3, d6, a1, d1 for degree.Wherein d4 and a2 is with respect to both other sizes to repetition
Location precision is maximum, is major influence factors.And d1 hardly influences repetitive positioning accuracy.The calculated result prompts for
The size of d4 and a2 need to be reduced as far as possible by improving robot repetitive positioning accuracy, but the work that can reduce robot in this way is empty
Between, therefore need to comprehensively consider various factors when design robot.
Figure 10 is the influence according to all joint sizes of robot of the application another embodiment to repetitive positioning accuracy
Schematic diagram, when all joint proportional variations, as shown in Figure 10, the also proportional variation of the repetitive positioning accuracy of robot.
It is above-mentioned by taking GR625 robot as an example, calculated examples have been carried out to the calculation method in the application.It should be noted that
It is that the parameter of different robots is different, calculated result can difference.
1. the application is using encoder for servo motor resolution ratio as its influence to repetitive positioning accuracy of analysis of Influential Factors,
Calculated result shows that the motor control precision of first three axis is larger to repetition location precision, and then three axis are to repetitive positioning accuracy
It influences smaller.
2. the application, having a size of its influence to repetitive positioning accuracy of analysis of Influential Factors, calculates knot with joint of robot
Fruit shows that the size of d4 and a2 is maximum to location precision is repeated, remaining size influences smaller.
Using the above scheme, the calculation method of the repetitive positioning accuracy of a set of robot is developed, is realized to relevant parameter
Repetitive positioning accuracy caused by error influences to carry out quantitative analysis, to instruct to research and develop and produce.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, the technical solution of the application is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the application.
Embodiment two
Additionally provide a kind of adjustment device of robot in the present embodiment, the device is for realizing above-described embodiment and excellent
Embodiment is selected, the descriptions that have already been made will not be repeated.As used below, predetermined function may be implemented in term " module "
Software and/or hardware combination.Although device described in following embodiment is preferably realized with software, hardware,
Or the realization of the combination of software and hardware is also that may and be contemplated.
According to another embodiment of the application, a kind of adjustment device of robot is additionally provided, comprising:
Module is obtained, robot is set for the first value according to the first joint parameter, obtains the of the robot
One resetting error, wherein resetting error is for indicating that the robot when space is in targeted attitude, repeatedly lives
Maximum deviation in dynamic between robot end's reproducing positions；
Module is adjusted, for adjusting institute in the case where the first resetting error is unsatisfactory for the first preset condition
The value of the first joint parameter is stated, so that the second resetting error of robot adjusted meets the preset condition.
By the application, the first value according to the first joint parameter is arranged robot, obtains the first of the robot
Resetting error adjusts described first and closes in the case where the first resetting error is unsatisfactory for the first preset condition
The value of parameter is saved, so that the resetting error of robot adjusted meets the first preset condition, using the above scheme,
By largely analyzing, the joint parameter being affected to the resetting error of robot is accurately obtained, adjusts these ginsengs in time
Number, to guarantee the resetting error of robot.
It should be noted that above-mentioned modules can be realized by software or hardware, for the latter, Ke Yitong
Following manner realization is crossed, but not limited to this: above-mentioned module is respectively positioned in same processor；Alternatively, above-mentioned modules are with any
Combined form is located in different processors.
Embodiment three
Embodiments herein additionally provides a kind of storage medium.Optionally, in the present embodiment, above-mentioned storage medium can
To be arranged to store the program code for executing following steps:
S1, the first value according to the first joint parameter are arranged robot, obtain the first resetting of the robot
Error, wherein resetting error for indicate the robot when space be in targeted attitude, it is repeatedly movable in robot
Maximum deviation between the reproducing positions of end；
S2 adjusts first joint in the case where the first resetting error is unsatisfactory for the first preset condition
The value of parameter, so that the second resetting error of robot adjusted meets first preset condition.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or
The various media that can store program code such as CD.
Embodiments herein additionally provides a kind of electronic device, including memory and processor, stores in the memory
There is computer program, which is arranged to run computer program to execute the step in any of the above-described embodiment of the method
Suddenly.
Optionally, above-mentioned electronic device can also include transmitting device and input-output equipment, wherein the transmitting device
It is connected with above-mentioned processor, which connects with above-mentioned processor.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
S1, the first value according to the first joint parameter are arranged robot, obtain the first resetting of the robot
Error, wherein resetting error for indicate the robot when space be in targeted attitude, it is repeatedly movable in robot
Maximum deviation between the reproducing positions of end；
S2 adjusts first joint in the case where the first resetting error is unsatisfactory for the first preset condition
The value of parameter, so that the second resetting error of robot adjusted meets first preset condition.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein
Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or
Step is fabricated to single integrated circuit module to realize.It is combined in this way, the application is not limited to any specific hardware and software.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of method of adjustment of robot characterized by comprising
Robot is arranged in the first value according to the first joint parameter, obtains the first resetting error of the robot,
In, resetting error for indicate the robot when space be in targeted attitude, it is repeatedly movable in robot end again
Maximum deviation between existing position；
In the case where the first resetting error is unsatisfactory for the first preset condition, taking for first joint parameter is adjusted
Value, so that the second resetting error of robot adjusted meets first preset condition.
2. the method according to claim 1, wherein it is default to be unsatisfactory for first in the first resetting error
In the case where condition, the value of first joint parameter is adjusted, comprising:
When the first resetting error is greater than threshold value, the value of first joint parameter is adjusted.
3. the method according to claim 1, wherein it is default to be unsatisfactory for first in the first resetting error
In the case where condition, after the value for adjusting first joint parameter, the method also includes:
Obtaining and adjusting the value of first joint parameter is the second value；
The robot is set according to second value, obtains the second repetitive error of the robot, detection described second
Whether repetitive error meets first preset condition.
4. the method according to claim 1, wherein robot is arranged in the first value according to the first joint parameter
Before, which comprises
In multiple joint parameters, obtains the joint that the second preset condition is met to the impact effect of the resetting error and join
Number, is determined as first joint parameter.
5. the method according to claim 1, wherein obtaining in multiple joint parameters to the resetting
The impact effect of error meets the joint parameter of the second preset condition, is determined as first joint parameter, comprising:
Repeatedly control robot is movable in working space, and obtains the pass in the multiple joints of each minimum posture of resetting error
Save the value of activity point of view, wherein robot end is located at the resetting error of robot when working envelope most
It is low；
When robot in multiple activity is in the minimum posture, the value variation of joint motion angle is less than preset range
It is the first joint, first joint parameter is the joint motion angle in first joint.
6. the method according to claim 1, wherein obtaining in multiple joint parameters to the resetting
The impact effect of error meets the joint parameter of the second preset condition, is determined as first joint parameter, comprising:
The random motion error tolerance in multiple joints is obtained with the first proportionality coefficient of resetting error described in bandwidth contributions,
In, the random motion error tolerance is used to indicate the stability in the joint with bandwidth；
It is the first joint that first proportionality coefficient, which is obtained, greater than the joint of threshold value, and the random motion error in first joint is public
First joint parameter described in difference band bandwidth.
7. the method according to claim 1, wherein obtaining in multiple joint parameters to the resetting
The impact effect of error meets the joint parameter of the second preset condition, is determined as first joint parameter, comprising:
The joint size for obtaining multiple joints influences the second proportionality coefficient of the resetting error；
The joint that second proportionality coefficient is obtained greater than threshold value is the first joint, and the joint in first joint is having a size of described
First joint parameter.
8. a kind of adjustment device of robot characterized by comprising
Module is obtained, robot is set for the first value according to the first joint parameter, obtains the first weight of the robot
Multiple position error, wherein resetting error is for indicating the robot when space is in targeted attitude, repeatedly in activity
Maximum deviation between robot end's reproducing positions；
Module is adjusted, in the case where the first resetting error is unsatisfactory for the first preset condition, adjusts described the
The value of one joint parameter, so that the second resetting error of robot adjusted meets the preset condition.
9. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer
Program is arranged to execute method described in any one of claim 1 to 7 when operation.
10. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory
Sequence, the processor are arranged to run the computer program to execute side described in any one of claim 1 to 7
Method.
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