A compensation method of end pose error of industrial welding robot based on internet of things

摘要

In order to reduce the end pose error of industrial welding robot, a new end pose error compensation method of industrial welding robot based on internet of things (IoT) is proposed. Firstly, the end pose acquisition sensor is set to collect the end pose sample data of the welding robot under the IoT architecture. Secondly, the availability of pose data is improved by homogeneous transformation. Finally, the end rotation feature of the welding robot is calculated, and the Kalman filter model is used to fuse the end pose parameters of the industrial welding robot. According to the covariance matrix, the error compensation function of industrial welding robot is constructed. The experimental results show that the proposed end pose error compensation method of industrial welding robot based on the internet of things has higher end pose compensation effect, the maximum error after compensation is not more than 0.2 mm.