Real-time trajectory position error compensation technology of industrial robot

In order to meet the requirements of high positioning accuracy and trajectory accuracy of industrial robots in the field of high-precision operation, this paper studied the real-time compensation method of the robot trajectory error used laser tracker to measure the end position of robot in real time. This real-time error calculation method of robot trajectory based on continuous dynamic time warping (CDTW), which was studied to determine the position error of robot trajectory at each moment. Moreover, this paper researched the PID parameter tuning technology of response surface model method based on gray analysis and got a real-time compensation method. The compensation value was fed back to the robot for motion compensation in real time through KUKA RSI. The last, the influence of compensation parameters and period was analyzed and the error compensation experiment of positioning, linear trajectory and arc trajectory were carried out. After compensation, the absolute positioning error of the robot was less than 0.06 mm and the trajectory position error was less than 0.15 mm, which greatly improved the position accuracy of the robot.