Analysis and Compensation of Horizontal Attitude Error of Low-Cost Manipulator Front End

This paper presents a control method for the large horizontal attitude error of the front end of the low-cost six degree of freedom light manipulator. According to the angle position model of the manipulator, the inverse motion equation is established and the joint angles are obtained by inverse solution; Test the linear error of the 3, 4 and 5 joint actuator of the manipulator in the process of rotation and fit the compensation straight line; By calculating the center of gravity position of the control object divided by 3, 4 and 5 joints under no-load condition and simulating the joint error in MATLAB, a hierarchical compensation method for nonlinear error is proposed; By analyzing the physical characteristics of the manipulator, the dead zone range is obtained under the condition that the front-end attitude remains horizontal. Combined with the compensated target position, whether the end of the manipulator will enter the dead zone is judged. Through the manipulator experiment, the error compensation method successfully reduces the horizontal error of the front end of the manipulator from ± 14mm to ± 4mm.