With the increasing use of robotics , the traditional teaching methods of teaching programming have become very inefficient in some occasions, so off-line programming has emerged and applications have become more and more popular. However, friends who use offline programming at first will always be confused by the error of the last generated trajectory, and the causes of these errors include the TCP mentioned in the previous issues, the accuracy of the workpiece, and the other, that is, the absolute positioning error of the robot. .
Below we summarize the sources of errors in off-line programming and how to minimize these errors.
[Error Source 1: TCP Measurement Error]
First of all, we must talk about TCP. I think the friends of Xiaomeng’s article are familiar with this. TCP is the center of the tool. If the robot does not find the center of the tool it holds, you can imagine how big the error is. So we have to measure the TCP. After the measurement, we need to control the error within the approved range, and then verify the measurement results. We can perform the relocation operation at the fixed point to verify that the robot performs multi-pose motion at a fixed point. Whether it is within the specified error range.
This puts requirements on the offline programming software. In the offline programming software, the real TCP of the measurement can be input. These necessary functions are basic functions in the first-line brands such as RobotArt and RobotMaster.
[Error Source 2: Workpiece Geometry and Positioning Error]
The second is the workpiece error, there are two aspects:
On the one hand, the error of the workpiece model is essentially to ensure that the size of the virtual model in the offline programming environment is exactly the same as in the real world. Therefore, it is necessary to improve the accuracy of the workpiece to reduce the error caused by the workpiece itself.
The other is the error in the position of the workpiece. Taking the domestic offline programming software RobotArt as an example, the “workpiece calibration†function provided in the software is to eliminate this error. The workpiece calibration done by the three-point method can meet the basic accuracy requirements. For high-precision applications, in order to reduce the error of the workpiece position, we can not only measure three points, we can measure multiple points on the workpiece so that the error can be further reduced. This function RobotArt is much more useful than RobotMaster, and it is a good idea for domestic software!
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