Robust Optimization of Dynamic Characteristics of Mechanical Structure Combined with Multivariable Predictive Compensation

Abstract

Due to the influence of many factors such as machining and working environment, the robot kinematics model has errors, which leads to the inaccuracy of the actual position and pose. Therefore, in order to solve this problem, this paper proposes a method based on the genetic algorithm to directly modify the rotation variables of the manipulator joint to improve the positioning accuracy of the manipulator. Through the establishment of the mechanical kinematics model and the error model, the solution formula of joint correction is obtained. The actual pose of the end effector of the manipulator is detected by the NDI three-dimensional dynamic displacement measurement system, and the correction value is applied to the control of the designed 6-DOF series manipulator.