機械手臂動態精度提升技術

Robot Manipulator Dynamic Accuracy Improvement Technology

紀佃昀 ； 李宇修 ； 許勝傑 ； 曹子晴

《機械工業雜誌》 461期 (2021/08) Pp. 26-32

摘要

隨著工業自動化的逐漸普及，製造業者為了因應市場的競爭，勢必往高附加價值產品的加工生產努力，因此具有高製造彈性的機械手臂其加工精度就成為非常關鍵的部分。傳統關節式機械手臂雖然有很好的重現性，但是受到本身機構誤差的影響，很難有良好的準確性。除了準確性外，動態精度也就是即時的軌跡追蹤精度，更與加工品質和產能直接相關。良好的動態精度能使機械手臂在高速的運動下製造高品質、複雜幾何的工件。本文採用一雙迴圈的疊代學習控制演算法來優化機械手臂在動態軌跡追蹤時的準確性與精密度，使絕對精度達0.2 mm，使機械手臂能夠應用在高精度製程。

關鍵字

疊代學習控制 ； 軌跡追蹤 ； 動態精度

並列摘要

With the increasing popularity of industrial automation, manufacturers will inevitably make efforts to produce high value-added products in order to respond to market competition. Therefore, the tracking accuracy of robot manipulator featuring high configurability and flexibility, plays an essential role. Although the conventional robot manipulator has good repeatability, the kinematic accuracy often suffers from the error of mechanism. Aside from the kinematic accuracy, dynamic accuracy-- the ability to track a dynamic trajectory, is directly related to the workpiece quality and throughput. Good dynamic accuracy enables high product quality under high speed and complex scenario. In this paper, a dual loop iterative learning control algorithm is used to optimize the kinematic accuracy, and the dynamic accuracy of the robot manipulator with the maximum absolute error less than 0.2 mm. The controlled robot manipulator can be applied to high precision manufacturing processes.

並列關鍵字

Iterative learning control ； Trajectory tracking ； Dynamic accuracy