Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker

XUE Lei; YANG Yingke; LI Dongsheng; HUANG Liang; ZHAI Yunong

doi:10.16080/j.issn1671-833x.2024.05.053

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Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker

更新时间：2025-10-30

- Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker
- Aeronautical Manufacturing Technology Vol. 67, Issue 5, Pages: 53-59(2024)
- 作者机构：
  
  1. 中国商飞上海飞机制造有限公司,上海,201324
  2. 北京航空航天大学机械工程及自动化学院,北京,100191
  3. 北京航空航天大学宁波创新研究院,宁波,315800
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2024.05.053
  CLC：
- Published：2024
- 稿件说明：
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薛雷，杨应科，李东升，黄亮，翟雨农. 基于激光跟踪仪的机器人末端负载重力辨识与在线补偿方法[J]. 航空制造技术, 2024, 67(5): 53-59.

XUE Lei, YANG Yingke, LI Dongsheng, HUANG Liang, ZHAI Yunong. Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker[J]. Aeronautical Manufacturing Technology, 2024, 67(5): 53-59.
薛雷，杨应科，李东升，黄亮，翟雨农. 基于激光跟踪仪的机器人末端负载重力辨识与在线补偿方法[J]. 航空制造技术, 2024, 67(5): 53-59. DOI： 10.16080/j.issn1671-833x.2024.05.053.

XUE Lei, YANG Yingke, LI Dongsheng, HUANG Liang, ZHAI Yunong. Gravity Identification and Online Compensation of Robot End-Effector Based on Laser Tracker[J]. Aeronautical Manufacturing Technology, 2024, 67(5): 53-59. DOI： 10.16080/j.issn1671-833x.2024.05.053.

摘要

为准确测量工业机器人在飞机装配中的真实装配受力，提出了一种基于激光跟踪仪的机器人末端负载重力辨识与在线补偿方法。借助激光跟踪仪等外部测量设备，建立了机器人系统的全局运动学模型，实现机器人末端位姿的精准获取。利用卡尔曼滤波处理力传感器信号，以获取更加准确平稳的外部力信息。基于最小二乘法建立了末端负载重力分量与位姿的映射关系，其中，考虑了力传感器的零点偏移与机器人安装偏差带来的影响。最后开展了机器人负载重力在线补偿试验，试验结果表明，该方法具有良好的效果。

Abstract

To measure the real assembly force of industrial robots precisely in aircraft assembly

a method of gravity identification and online compensation for the robot end-effector based on the laser tracker is proposed. With the help of external measuring equipment such as a laser tracker

the global kinematics model of the robot system is set up to realize the accurate acquisition of the end-effector pose of the robot. Then

Kalman filtering is utilized to process the force/torque signal to obtain more exact and stable external information

and the relationship between the gravity component and the pose of the end-effector is established

considering the influence of the zero-point bias of the sensor and the error of the robot installation. Finally

an online gravity compensation experiment of the robot end-effector is conducted and demonstrates the effectiveness of the proposed method.

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