Abstract:

The purpose of this paper is to explore a prediction model of trajectory precision based on ADAMS,which can improve the high precision processing using industrial robots.The main factors influencing trajectory precision are the structural parameters of industrial robots and nominal value and the joint angle deviation.A structural parameters identification scheme is proposed and verified by a laser tracker and analyze the relationship of the joint angle deviation and the change of working condition.A prediction model of trajectory precision in ADAMS is built.Finally,an experiment system is established to verify the prediction model with the API III laser tracker aimed at UR5 as the measuring device.The experiment results show that the prediction model is valid with the precision of prediction close to 0.5 mm,and the trajectory precision is less than 1mm with error compensation.

Key words: industrial robots;error of structural parameters;joint angle deviation;error prediction model