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!
[Error Source 3: Robot Assembly and Absolute Positioning Error]
Finally, there are robot errors, and there are two aspects:
On the one hand, the error caused by the robot itself during the processing and assembly process, which leads to the final generated robot, which may not be exactly the same as the DH parameter when designing, just as there are no two identical leaves in the world, the world There are also no two identical robots.
The other hand is the absolute positioning error of the robot. All robot manufacturers have not told you a fact. Among the nominal parameters disclosed by the major robots, the repeatability is repeated, which can reach 0.05mm, or 0.02mm, but there is no one that provides absolute positioning accuracy. Absolute precision refers to the degree to which the actual value is in agreement with the theoretical value. We control the robot to move to each target point, and there is a certain distance error between the actual arrival point of the robot and the target point. For example, in the figure below, we give the same coordinates X, Y, Z, and let the robot point to it three times in different postures. The result is so unreliable that Xiaomeng’s cult of the robot was broken. Ground. But the situation is not so bad. This absolute error is only large in the attitude of the robot's limit. In the comfortable posture, the error is relatively small, and it is also different because of "people."
In the RobotArt offline programming software, this problem has been "accommodated", that is, in the trajectory optimization, the trajectory posture will be optimized to the "comfortable" position, and the secondary positioning method is provided to fully utilize the repeated positioning accuracy. And other means to try to eliminate this error. The following figure shows RobotArt's trajectory optimization function. By adjusting the trajectory analysis curve, the smoother the trajectory analysis line, the more "comfortable" the robot's posture is, and the absolute positioning error generated by the robot body is smaller.
By eliminating the above three sources of error, the accuracy of off-line programming can be greatly improved, so that the robot can be well applied to complex trajectory fields such as grinding, deburring, cutting, and spraying. As the first domestic branded robot offline programming software, RobotArt has completely broken the monopoly of foreign software, greatly reducing the cost of domestic robot applications, and providing better services for domestic robot applications. We expect the Chinese to make more excellent offline programming software like RobotArt.
Micro inverter is a small inverter used in solar power generation systems, its main function is to convert the direct current generated by a single Solar Panel into alternating current. Unlike traditional centralized inverters, microinverters are usually equipped with one per solar panel, that is, each solar panel has an independent microinverter.
Main effect:
1. Individual control: The microinverter provides independent conversion control for each solar panel, which means that each solar panel can optimize its power output individually. This maximizes the power generation efficiency of the solar panels since shading or other influences only affect the power generation efficiency of individual panels, not the entire array.
2. Reliability: Since each solar panel is equipped with a micro-inverter, even if one of the inverters fails, the other panels can still work normally, thereby improving the reliability of the entire system.
3. Flexible installation: Micro-inverters are usually small and can be installed near solar panels without being concentrated in one location, so installation is more flexible and convenient.
Differences from other inverters:
1. Individual control: Compared with traditional centralized inverters, microinverters provide independent conversion control for each solar panel, enabling each panel to reach its maximum power output.
2. Fault isolation: The micro-inverter has the function of fault isolation. Even if one of the inverters fails, other panels can continue to work without affecting the operation of the entire system.
3. Installation method: The micro-inverter can be flexibly installed near the solar panel, and does not need to be concentrated in one location, so the installation is more flexible and convenient.
4. Applicable scale: micro-inverters are usually used in small-scale solar power generation systems, while traditional centralized inverters are suitable for larger-scale photovoltaic power plants.
Overall, the main role of microinverters is to individually control and optimize the power generation efficiency of solar panels and improve the reliability of the system. Compared with traditional centralized inverters, it has some advantages in terms of flexibility, fault isolation and applicable scale.
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